# 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: 2A_AxialSRiftFlankE_1v3.rte # Mission File: 2A_AxialSRiftFlankE_1v3.cfg # Distance: 80479.374774 (m) # Estimated Time: 56912 (s) 15.809 (hr) # Abort Time: 61920 (s) # Max battery life: 68400 (s) # Safety margin: 1800 (s) # Ascend time: 3564 (s) # Way Points: 43 # Route Points: 784 # Survey Behaviors: # Behavior for waypoint mode 0: WaypointDepth # Behavior for waypoint mode 1: WaypointDepth # Behavior for waypoint mode 2: WaypointDepth # Behavior for waypoint mode 3: WaypointDepth # Behavior for waypoint mode 4: WaypointDepth # Descent style: Spiral descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 31 dB # Multibeam transmit gain: 218 dB # Multibeam pulse width: 3.3e-05 usec # Multibeam minimum range fraction: 0.6 # Multibeam maximum range fraction: 5.0 # Subbottom enabled # Low sidescan enabled # High sidescan disabled # Benthic imaging camera control disabled: # # Mission Parameters: # Vehicle Survey Speed: 1.500000 (m/s) 2.915769 (knots) # Vehicle Ascent Speed: 1.500000 (m/s) 2.915769 (knots) # Vehicle Transit Speed: 1.500000 (m/s) 2.915769 (knots) # Minimum Vehicle Altitude 1: 50 (m) # Abort Vehicle Altitude 1: 30 (m) # Delta Depth Restart 1: 20 (m) # Desired Vehicle Altitude 1: 50 (m) # Desired Vehicle Altitude 2: 75 (m) # Desired Vehicle Altitude 3: 50 (m) # Constant Vehicle Depth 1: 50 (m) # Constant Vehicle Depth 2: 50 (m) # Maximum Vehicle Depth: 2399.879622 (m) # Abort Vehicle Depth: 2424.879622 (m) # Descent Vehicle Depth: 3 (m) # Spiral descent depth: 2271.953451 m # Spiral descent altitude: 50 m # Forward Looking Distance: 200 (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 -130.034231 45.547887 -2331.953451 0.000000 1 # 1 -129.992953 45.526414 -2391.432943 4009.984294 1 # 2 -129.994365 45.512619 -2336.421224 5546.641354 1 # 3 -129.996119 45.512661 -2333.947266 5683.720164 1 # 4 -129.993402 45.540144 -2402.552083 8744.595743 1 # 5 -129.995263 45.540209 -2416.109375 8890.049454 1 # 6 -129.998011 45.512788 -2346.491211 11944.178383 4 # 7 -129.999925 45.512895 -2349.136719 12094.162177 3 # 8 -129.997145 45.540187 -2398.120443 15134.239668 4 # 9 -129.999049 45.540337 -2390.323568 15283.786155 3 # 10 -130.001840 45.513002 -2371.070007 18328.662300 4 # 11 -130.003754 45.513110 -2379.912598 18478.654463 3 # 12 -130.000909 45.540529 -2389.769531 21533.194397 4 # 13 -130.002770 45.540658 -2391.279297 21679.170352 3 # 14 -130.005668 45.513217 -2381.430176 24736.379482 4 # 15 -130.007582 45.513324 -2378.443848 24886.362317 3 # 16 -130.004652 45.540765 -2399.460938 27943.750841 4 # 17 -130.006620 45.540850 -2389.608724 28097.671424 3 # 18 -130.009496 45.513431 -2377.306641 31152.373402 4 # 19 -130.011325 45.513367 -2381.299805 31295.421212 3 # 20 -130.008438 45.540957 -2380.575521 34369.128402 1 # 21 -130.010299 45.541085 -2358.241862 34515.103426 3 # 22 -130.013325 45.513645 -2378.370300 37573.048284 4 # 23 -130.015239 45.513752 -2376.146912 37723.030164 3 # 24 -130.012288 45.541150 -2379.489583 40775.782661 4 # 25 -130.014127 45.541299 -2393.328776 40920.349591 3 # 26 -130.017153 45.513859 -2385.041992 43978.280238 4 # 27 -130.019067 45.513966 -2396.273438 44128.261640 3 # 28 -130.014127 45.558944 -2358.682943 49140.467250 4 # 29 -130.016073 45.558923 -2309.577148 49292.394168 3 # 30 -130.020982 45.514073 -2394.500488 54290.191209 4 # 31 -130.022896 45.514180 -2397.031738 54440.172134 3 # 32 -130.017806 45.558858 -2320.576823 59420.121282 4 # 33 -130.019602 45.558794 -2296.356120 59560.525799 3 # 34 -130.024810 45.514287 -2401.809570 64522.263167 4 # 35 -130.026725 45.514393 -2403.496094 64672.312723 3 # 36 -130.021527 45.558666 -2334.839193 69608.041076 4 # 37 -130.023580 45.558666 -2311.180013 69768.296963 3 # 38 -130.028639 45.514500 -2408.410645 74691.294782 4 # 39 -130.030553 45.514607 -2413.177734 74841.274756 3 # 40 -130.026981 45.544871 -2310.794922 78215.351850 4 # 41 -130.028949 45.545021 -2321.095703 78369.865887 1 # 42 -130.031066 45.526093 -2378.542806 80479.374774 1 # # A total of 784 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 61920; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 2399.879622; abortDepth = 2424.879622; minAltitude = 50.000000; abortAltitude = 30.000000; deltaDepthRestart = 20.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 3564; 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 42 # Segment length 102.495870 meters # Minimum depth: 2376.412816 meters looking forward 200.000000 meters along route # Maximum depth: 2386.027388 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2326.412816 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.526093; longitude = -130.031066; duration = 409; # abortOnTimeout = True; initialDepth = 2320.002823; finalDepth = 2326.412816; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1299899999999 # Actual altitude: 52.1299899999999 # Commanded vehicle depth: 2326.412816 # Seafloor depth: -2378.542806 # 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 42 # Segment length 100.112249 meters # Minimum depth: 2370.002823 meters looking forward 200.000000 meters along route # Maximum depth: 2386.027388 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2320.002823 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.527012; longitude = -130.030963; duration = 400; initialDepth = 2317.351432; finalDepth = 2320.002823; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.3474570000003 # Actual altitude: 55.3474570000003 # Commanded vehicle depth: 2320.002823 # Seafloor depth: -2375.350280 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 100.112253 meters # Minimum depth: 2367.351432 meters looking forward 200.000000 meters along route # Maximum depth: 2374.799676 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2317.351432 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.527911; longitude = -130.030863; duration = 400; initialDepth = 2315.285644; finalDepth = 2317.351432; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.189793 # Actual altitude: 57.189793 # Commanded vehicle depth: 2317.351432 # Seafloor depth: -2374.541225 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 100.112258 meters # Minimum depth: 2365.285644 meters looking forward 200.000000 meters along route # Maximum depth: 2374.799676 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2315.285644 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.528809; longitude = -130.030762; duration = 400; initialDepth = 2306.455954; finalDepth = 2315.285644; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.189793 # Actual altitude: 57.189793 # Commanded vehicle depth: 2315.285644 # Seafloor depth: -2369.292335 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 100.112261 meters # Minimum depth: 2356.455954 meters looking forward 200.000000 meters along route # Maximum depth: 2370.513500 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2306.455954 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.529707; longitude = -130.030662; duration = 400; initialDepth = 2297.482607; finalDepth = 2306.455954; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.0598300000001 # Actual altitude: 57.0598300000001 # Commanded vehicle depth: 2306.455954 # Seafloor depth: -2363.515784 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 100.112266 meters # Minimum depth: 2347.482607 meters looking forward 200.000000 meters along route # Maximum depth: 2363.207307 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2297.482607 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.530606; longitude = -130.030561; duration = 400; initialDepth = 2288.567563; finalDepth = 2297.482607; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.3952469999999 # Actual altitude: 58.3952469999999 # Commanded vehicle depth: 2297.482607 # Seafloor depth: -2355.877854 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 100.112269 meters # Minimum depth: 2338.567563 meters looking forward 200.000000 meters along route # Maximum depth: 2357.947813 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2288.567563 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.531504; longitude = -130.030461; duration = 400; initialDepth = 2275.924148; finalDepth = 2288.567563; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.3952469999999 # Actual altitude: 58.3952469999999 # Commanded vehicle depth: 2288.567563 # Seafloor depth: -2346.933466 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 100.112274 meters # Minimum depth: 2325.924148 meters looking forward 200.000000 meters along route # Maximum depth: 2345.118381 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2275.924148 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.532402; longitude = -130.030360; duration = 400; initialDepth = 2275.924148; finalDepth = 2275.924148; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.3659029999999 # Actual altitude: 58.3659029999999 # Commanded vehicle depth: 2275.924148 # Seafloor depth: -2333.431152 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 100.112278 meters # Minimum depth: 2325.924148 meters looking forward 200.000000 meters along route # Maximum depth: 2335.764621 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2275.924148 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.533300; longitude = -130.030260; duration = 400; initialDepth = 2268.273817; finalDepth = 2275.924148; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.5070040000001 # Actual altitude: 57.5070040000001 # Commanded vehicle depth: 2275.924148 # Seafloor depth: -2331.443141 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 100.112282 meters # Minimum depth: 2318.273817 meters looking forward 200.000000 meters along route # Maximum depth: 2335.764621 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2268.273817 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.534199; longitude = -130.030159; duration = 400; initialDepth = 2259.741823; finalDepth = 2268.273817; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.7068340000001 # Actual altitude: 65.7068340000001 # Commanded vehicle depth: 2268.273817 # Seafloor depth: -2333.980651 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 100.112286 meters # Minimum depth: 2309.741823 meters looking forward 200.000000 meters along route # Maximum depth: 2334.339784 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2259.741823 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.535097; longitude = -130.030059; duration = 400; initialDepth = 2259.156254; finalDepth = 2259.741823; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.7068340000001 # Actual altitude: 65.7068340000001 # Commanded vehicle depth: 2259.741823 # Seafloor depth: -2312.510357 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 100.112290 meters # Minimum depth: 2309.156254 meters looking forward 200.000000 meters along route # Maximum depth: 2318.336591 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2259.156254 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.535995; longitude = -130.029958; duration = 400; initialDepth = 2255.071241; finalDepth = 2259.156254; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2610500000001 # Actual altitude: 53.2610500000001 # Commanded vehicle depth: 2259.156254 # Seafloor depth: -2312.417304 # 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 42 # Segment length 100.112294 meters # Minimum depth: 2305.071241 meters looking forward 200.000000 meters along route # Maximum depth: 2318.336591 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2255.071241 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.536893; longitude = -130.029858; duration = 400; initialDepth = 2246.106353; finalDepth = 2255.071241; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.830242 # Actual altitude: 53.830242 # Commanded vehicle depth: 2255.071241 # Seafloor depth: -2308.901483 # 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 42 # Segment length 100.112299 meters # Minimum depth: 2296.106353 meters looking forward 200.000000 meters along route # Maximum depth: 2309.527092 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2246.106353 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.537792; longitude = -130.029757; duration = 400; initialDepth = 2241.087458; finalDepth = 2246.106353; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.6847769999999 # Actual altitude: 59.6847769999999 # Commanded vehicle depth: 2246.106353 # Seafloor depth: -2305.791130 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 100.112302 meters # Minimum depth: 2291.087458 meters looking forward 200.000000 meters along route # Maximum depth: 2303.956865 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2241.087458 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.538690; longitude = -130.029657; duration = 400; initialDepth = 2243.586993; finalDepth = 2241.087458; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.6847769999999 # Actual altitude: 59.6847769999999 # Commanded vehicle depth: 2241.087458 # Seafloor depth: -2291.087458 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 100.112307 meters # Minimum depth: 2293.586993 meters looking forward 200.000000 meters along route # Maximum depth: 2308.833636 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2243.586993 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.539588; longitude = -130.029556; duration = 400; initialDepth = 2243.586993; finalDepth = 2243.586993; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1037820000001 # Actual altitude: 52.1037820000001 # Commanded vehicle depth: 2243.586993 # Seafloor depth: -2295.690775 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 100.112311 meters # Minimum depth: 2293.586993 meters looking forward 200.000000 meters along route # Maximum depth: 2313.063548 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2243.586993 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.540487; longitude = -130.029456; duration = 400; initialDepth = 2256.713985; finalDepth = 2243.586993; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.0673609999999 # Actual altitude: 65.0673609999999 # Commanded vehicle depth: 2243.586993 # Seafloor depth: -2308.654354 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 100.112315 meters # Minimum depth: 2306.713985 meters looking forward 200.000000 meters along route # Maximum depth: 2319.370712 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2256.713985 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.541385; longitude = -130.029355; duration = 400; initialDepth = 2257.388909; finalDepth = 2256.713985; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.0673609999999 # Actual altitude: 65.0673609999999 # Commanded vehicle depth: 2256.713985 # Seafloor depth: -2309.080095 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 100.112319 meters # Minimum depth: 2307.388909 meters looking forward 200.000000 meters along route # Maximum depth: 2325.009408 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2257.388909 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.542283; longitude = -130.029255; duration = 400; initialDepth = 2265.260215; finalDepth = 2257.388909; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.8756850000004 # Actual altitude: 62.8756850000004 # Commanded vehicle depth: 2257.388909 # Seafloor depth: -2320.264594 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 100.112323 meters # Minimum depth: 2315.260215 meters looking forward 200.000000 meters along route # Maximum depth: 2329.570798 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2265.260215 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.543181; longitude = -130.029154; duration = 400; initialDepth = 2258.869439; finalDepth = 2265.260215; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.8756850000004 # Actual altitude: 62.8756850000004 # Commanded vehicle depth: 2265.260215 # Seafloor depth: -2324.475221 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 104.879581 meters # Minimum depth: 2308.869439 meters looking forward 200.000000 meters along route # Maximum depth: 2329.570798 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2258.869439 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.544080; longitude = -130.029054; duration = 419; initialDepth = 2258.730936; finalDepth = 2258.869439; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 59.2150060000004 # Actual altitude: 59.2150060000004 # Commanded vehicle depth: 2258.869439 # Seafloor depth: -2316.248998 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 41 # Segment length 154.514037 meters # Minimum depth: 2308.730936 meters looking forward 200.000000 meters along route # Maximum depth: 2321.129553 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2258.730936 meters set by local depth and desired altitude # Vehicle transit speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.545021; longitude = -130.028949; duration = 618; # abortOnTimeout = True; initialDepth = 2258.730936; finalDepth = 2258.730936; speed = 1.500000; } ####################################################### # Acoustic update 6 - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 62.364767 # Actual altitude: 62.364767 # Commanded vehicle depth: 2258.730936 # Seafloor depth: -2321.095703 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 40 # Segment length 166.911869 meters # Minimum depth: 2308.730936 meters looking forward 200.000000 meters along route # Maximum depth: 2318.687715 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2258.730936 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.544871; longitude = -130.026981; duration = 667; # abortOnTimeout = True; initialDepth = 2256.312664; finalDepth = 2258.730936; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.364767 # Actual altitude: 62.364767 # Commanded vehicle depth: 2258.730936 # Seafloor depth: -2310.794922 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 100.147118 meters # Minimum depth: 2306.312664 meters looking forward 200.000000 meters along route # Maximum depth: 2318.687715 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2256.312664 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.543374; longitude = -130.027158; duration = 400; initialDepth = 2256.312664; finalDepth = 2256.312664; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.9992859999998 # Actual altitude: 54.9992859999998 # Commanded vehicle depth: 2256.312664 # Seafloor depth: -2311.311950 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 100.147115 meters # Minimum depth: 2306.312664 meters looking forward 200.000000 meters along route # Maximum depth: 2316.189304 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2256.312664 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.542476; longitude = -130.027264; duration = 400; initialDepth = 2260.050640; finalDepth = 2256.312664; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.9992859999998 # Actual altitude: 54.9992859999998 # Commanded vehicle depth: 2256.312664 # Seafloor depth: -2310.223416 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 100.147112 meters # Minimum depth: 2310.050640 meters looking forward 200.000000 meters along route # Maximum depth: 2323.083129 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2260.050640 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.541577; longitude = -130.027370; duration = 400; initialDepth = 2261.881964; finalDepth = 2260.050640; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.8598400000001 # Actual altitude: 55.8598400000001 # Commanded vehicle depth: 2260.05064 # Seafloor depth: -2315.910480 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 100.147109 meters # Minimum depth: 2311.881964 meters looking forward 200.000000 meters along route # Maximum depth: 2324.278091 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2261.881964 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.540679; longitude = -130.027476; duration = 400; initialDepth = 2261.881964; finalDepth = 2261.881964; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.396127 # Actual altitude: 62.396127 # Commanded vehicle depth: 2261.881964 # Seafloor depth: -2324.278091 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 100.147105 meters # Minimum depth: 2311.881964 meters looking forward 200.000000 meters along route # Maximum depth: 2322.871847 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2261.881964 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.539781; longitude = -130.027582; duration = 400; initialDepth = 2266.648639; finalDepth = 2261.881964; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.396127 # Actual altitude: 62.396127 # Commanded vehicle depth: 2261.881964 # Seafloor depth: -2317.585960 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 100.147104 meters # Minimum depth: 2316.648639 meters looking forward 200.000000 meters along route # Maximum depth: 2327.762962 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2266.648639 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.538882; longitude = -130.027688; duration = 400; initialDepth = 2270.647503; finalDepth = 2266.648639; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.9795760000002 # Actual altitude: 55.9795760000002 # Commanded vehicle depth: 2266.648639 # Seafloor depth: -2322.628215 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 100.147100 meters # Minimum depth: 2320.647503 meters looking forward 200.000000 meters along route # Maximum depth: 2327.762962 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2270.647503 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.537984; longitude = -130.027794; duration = 400; initialDepth = 2270.647503; finalDepth = 2270.647503; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.9795760000002 # Actual altitude: 55.9795760000002 # Commanded vehicle depth: 2270.647503 # Seafloor depth: -2323.759027 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 100.147097 meters # Minimum depth: 2320.647503 meters looking forward 200.000000 meters along route # Maximum depth: 2325.680463 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2270.647503 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.537086; longitude = -130.027900; duration = 400; initialDepth = 2272.388113; finalDepth = 2270.647503; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1115239999999 # Actual altitude: 53.1115239999999 # Commanded vehicle depth: 2270.647503 # Seafloor depth: -2322.733524 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 100.147094 meters # Minimum depth: 2322.388113 meters looking forward 200.000000 meters along route # Maximum depth: 2325.680463 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2272.388113 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.536188; longitude = -130.028006; duration = 400; initialDepth = 2272.388113; finalDepth = 2272.388113; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7715149999999 # Actual altitude: 52.7715149999999 # Commanded vehicle depth: 2272.388113 # Seafloor depth: -2325.159628 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 100.147092 meters # Minimum depth: 2322.388113 meters looking forward 200.000000 meters along route # Maximum depth: 2328.297908 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2272.388113 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.535289; longitude = -130.028112; duration = 400; initialDepth = 2272.850155; finalDepth = 2272.388113; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7715149999999 # Actual altitude: 52.7715149999999 # Commanded vehicle depth: 2272.388113 # Seafloor depth: -2322.634677 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 100.147088 meters # Minimum depth: 2322.850155 meters looking forward 200.000000 meters along route # Maximum depth: 2329.870778 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2272.850155 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.534391; longitude = -130.028218; duration = 400; initialDepth = 2275.830627; finalDepth = 2272.850155; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7453970000001 # Actual altitude: 53.7453970000001 # Commanded vehicle depth: 2272.850155 # Seafloor depth: -2326.595552 # 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 40 # Segment length 100.147086 meters # Minimum depth: 2325.830627 meters looking forward 200.000000 meters along route # Maximum depth: 2331.955576 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2275.830627 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.533493; longitude = -130.028324; duration = 400; initialDepth = 2280.224641; finalDepth = 2275.830627; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.3107190000001 # Actual altitude: 54.3107190000001 # Commanded vehicle depth: 2275.830627 # Seafloor depth: -2330.141346 # 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 40 # Segment length 100.147082 meters # Minimum depth: 2330.224641 meters looking forward 200.000000 meters along route # Maximum depth: 2347.618457 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2280.224641 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.532595; longitude = -130.028430; duration = 400; initialDepth = 2284.766520; finalDepth = 2280.224641; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.3107190000001 # Actual altitude: 54.3107190000001 # Commanded vehicle depth: 2280.224641 # Seafloor depth: -2333.469540 # 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 40 # Segment length 100.147080 meters # Minimum depth: 2334.766520 meters looking forward 200.000000 meters along route # Maximum depth: 2359.688730 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2284.766520 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.531696; longitude = -130.028536; duration = 400; initialDepth = 2300.606969; finalDepth = 2284.766520; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.973 # Actual altitude: 63.973 # Commanded vehicle depth: 2284.76652 # Seafloor depth: -2348.739520 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 100.147077 meters # Minimum depth: 2350.606969 meters looking forward 200.000000 meters along route # Maximum depth: 2371.574579 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2300.606969 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.530798; longitude = -130.028642; duration = 400; initialDepth = 2310.486442; finalDepth = 2300.606969; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.973 # Actual altitude: 63.973 # Commanded vehicle depth: 2300.606969 # Seafloor depth: -2360.141587 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 100.147073 meters # Minimum depth: 2360.486442 meters looking forward 200.000000 meters along route # Maximum depth: 2381.356065 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2310.486442 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.529900; longitude = -130.028748; duration = 400; initialDepth = 2319.980024; finalDepth = 2310.486442; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.184663 # Actual altitude: 62.184663 # Commanded vehicle depth: 2310.486442 # Seafloor depth: -2372.671105 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 100.147071 meters # Minimum depth: 2369.980024 meters looking forward 200.000000 meters along route # Maximum depth: 2381.356065 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2319.980024 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.529001; longitude = -130.028854; duration = 400; initialDepth = 2318.702461; finalDepth = 2319.980024; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.184663 # Actual altitude: 62.184663 # Commanded vehicle depth: 2319.980024 # Seafloor depth: -2378.946824 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 100.147068 meters # Minimum depth: 2368.702461 meters looking forward 200.000000 meters along route # Maximum depth: 2379.296249 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2318.702461 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.528103; longitude = -130.028960; duration = 400; initialDepth = 2318.702461; finalDepth = 2318.702461; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.9668000000001 # Actual altitude: 58.9668000000001 # Commanded vehicle depth: 2318.702461 # Seafloor depth: -2370.417800 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 100.147065 meters # Minimum depth: 2368.702461 meters looking forward 200.000000 meters along route # Maximum depth: 2373.871333 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2318.702461 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.527205; longitude = -130.029066; duration = 400; initialDepth = 2316.777984; finalDepth = 2318.702461; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7770020000003 # Actual altitude: 52.7770020000003 # Commanded vehicle depth: 2318.702461 # Seafloor depth: -2371.479463 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 100.147063 meters # Minimum depth: 2366.777984 meters looking forward 200.000000 meters along route # Maximum depth: 2374.034437 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2316.777984 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.526307; longitude = -130.029172; duration = 400; initialDepth = 2316.598159; finalDepth = 2316.777984; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.7615949999999 # Actual altitude: 55.7615949999999 # Commanded vehicle depth: 2316.777984 # Seafloor depth: -2372.539579 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 100.147059 meters # Minimum depth: 2366.598159 meters looking forward 200.000000 meters along route # Maximum depth: 2374.034437 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2316.598159 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.525408; longitude = -130.029278; duration = 400; initialDepth = 2316.598159; finalDepth = 2316.598159; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.7615949999999 # Actual altitude: 55.7615949999999 # Commanded vehicle depth: 2316.598159 # Seafloor depth: -2366.833128 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 100.147056 meters # Minimum depth: 2366.598159 meters looking forward 200.000000 meters along route # Maximum depth: 2376.141612 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2316.598159 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.524510; longitude = -130.029384; duration = 400; initialDepth = 2319.999967; finalDepth = 2316.598159; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.9224409999997 # Actual altitude: 53.9224409999997 # Commanded vehicle depth: 2316.598159 # Seafloor depth: -2370.520600 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 100.147054 meters # Minimum depth: 2369.999967 meters looking forward 200.000000 meters along route # Maximum depth: 2376.141612 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2319.999967 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.523612; longitude = -130.029490; duration = 400; initialDepth = 2319.999967; finalDepth = 2319.999967; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.9224409999997 # Actual altitude: 53.9224409999997 # Commanded vehicle depth: 2319.999967 # Seafloor depth: -2372.738640 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 100.147050 meters # Minimum depth: 2369.999967 meters looking forward 200.000000 meters along route # Maximum depth: 2380.964963 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2319.999967 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.522714; longitude = -130.029596; duration = 400; initialDepth = 2324.304723; finalDepth = 2319.999967; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0742139999998 # Actual altitude: 54.0742139999998 # Commanded vehicle depth: 2319.999967 # Seafloor depth: -2374.074181 # 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 40 # Segment length 100.147048 meters # Minimum depth: 2374.304723 meters looking forward 200.000000 meters along route # Maximum depth: 2396.053698 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2324.304723 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.521815; longitude = -130.029702; duration = 400; initialDepth = 2328.372106; finalDepth = 2324.304723; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.2641119999998 # Actual altitude: 57.2641119999998 # Commanded vehicle depth: 2324.304723 # Seafloor depth: -2381.568835 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 100.147044 meters # Minimum depth: 2378.372106 meters looking forward 200.000000 meters along route # Maximum depth: 2396.053698 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2328.372106 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.520917; longitude = -130.029808; duration = 400; initialDepth = 2328.372106; finalDepth = 2328.372106; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.1552160000001 # Actual altitude: 66.1552160000001 # Commanded vehicle depth: 2328.372106 # Seafloor depth: -2394.527322 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 100.147042 meters # Minimum depth: 2378.372106 meters looking forward 200.000000 meters along route # Maximum depth: 2410.618124 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2328.372106 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.520019; longitude = -130.029914; duration = 400; initialDepth = 2345.605672; finalDepth = 2328.372106; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.5339360000003 # Actual altitude: 66.5339360000003 # Commanded vehicle depth: 2328.372106 # Seafloor depth: -2394.906042 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 100.147039 meters # Minimum depth: 2395.605672 meters looking forward 200.000000 meters along route # Maximum depth: 2410.618124 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2345.605672 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.519120; longitude = -130.030020; duration = 400; initialDepth = 2349.374178; finalDepth = 2345.605672; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.5339360000003 # Actual altitude: 66.5339360000003 # Commanded vehicle depth: 2345.605672 # Seafloor depth: -2401.071756 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 100.147036 meters # Minimum depth: 2399.374178 meters looking forward 200.000000 meters along route # Maximum depth: 2412.867633 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2349.374178 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.518222; longitude = -130.030126; duration = 400; initialDepth = 2354.336351; finalDepth = 2349.374178; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.8525789999999 # Actual altitude: 55.8525789999999 # Commanded vehicle depth: 2349.374178 # Seafloor depth: -2405.226757 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 100.147033 meters # Minimum depth: 2404.336351 meters looking forward 200.000000 meters along route # Maximum depth: 2417.277512 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2354.336351 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.517324; longitude = -130.030232; duration = 400; initialDepth = 2356.009474; finalDepth = 2354.336351; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.0391130000003 # Actual altitude: 59.0391130000003 # Commanded vehicle depth: 2354.336351 # Seafloor depth: -2413.375464 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 100.147030 meters # Minimum depth: 2406.009474 meters looking forward 200.000000 meters along route # Maximum depth: 2417.277512 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2356.009474 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.516426; longitude = -130.030338; duration = 400; initialDepth = 2356.009474; finalDepth = 2356.009474; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.0391130000003 # Actual altitude: 59.0391130000003 # Commanded vehicle depth: 2356.009474 # Seafloor depth: -2406.813260 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 102.605935 meters # Minimum depth: 2406.009474 meters looking forward 200.000000 meters along route # Maximum depth: 2413.089891 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2356.009474 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.515527; longitude = -130.030444; duration = 410; initialDepth = 2358.440746; finalDepth = 2356.009474; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.5516240000002 # Actual altitude: 54.5516240000002 # Commanded vehicle depth: 2356.009474 # Seafloor depth: -2410.561098 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 39 # Segment length 149.979974 meters # Minimum depth: 2408.440746 meters looking forward 200.000000 meters along route # Maximum depth: 2413.177734 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2358.440746 meters set by local depth and desired altitude # Vehicle transit speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.514607; longitude = -130.030553; duration = 599; # abortOnTimeout = True; initialDepth = 2355.781047; finalDepth = 2358.440746; speed = 1.500000; } ####################################################### # Acoustic update 6 - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 54.7369879999997 # Actual altitude: 54.7369879999997 # Commanded vehicle depth: 2358.440746 # Seafloor depth: -2413.177734 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 38 # Segment length 114.512290 meters # Minimum depth: 2405.781047 meters looking forward 200.000000 meters along route # Maximum depth: 2412.718793 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2355.781047 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.514500; longitude = -130.028639; duration = 458; # abortOnTimeout = True; initialDepth = 2348.889889; finalDepth = 2355.781047; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7369879999997 # Actual altitude: 54.7369879999997 # Commanded vehicle depth: 2355.781047 # Seafloor depth: -2408.410645 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 100.127031 meters # Minimum depth: 2398.889889 meters looking forward 200.000000 meters along route # Maximum depth: 2411.707744 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2348.889889 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.515527; longitude = -130.028521; duration = 400; initialDepth = 2343.247458; finalDepth = 2348.889889; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.8178549999998 # Actual altitude: 62.8178549999998 # Commanded vehicle depth: 2348.889889 # Seafloor depth: -2411.707744 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 100.127034 meters # Minimum depth: 2393.247458 meters looking forward 200.000000 meters along route # Maximum depth: 2411.662344 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2343.247458 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.516426; longitude = -130.028418; duration = 400; initialDepth = 2343.247458; finalDepth = 2343.247458; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.8178549999998 # Actual altitude: 62.8178549999998 # Commanded vehicle depth: 2343.247458 # Seafloor depth: -2397.486463 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 100.127038 meters # Minimum depth: 2393.247458 meters looking forward 200.000000 meters along route # Maximum depth: 2405.523473 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2343.247458 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.517324; longitude = -130.028316; duration = 400; initialDepth = 2333.394121; finalDepth = 2343.247458; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.4760660000002 # Actual altitude: 56.4760660000002 # Commanded vehicle depth: 2343.247458 # Seafloor depth: -2399.723524 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 100.127042 meters # Minimum depth: 2383.394121 meters looking forward 200.000000 meters along route # Maximum depth: 2402.281308 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2333.394121 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.518222; longitude = -130.028213; duration = 400; initialDepth = 2328.049657; finalDepth = 2333.394121; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.7098190000002 # Actual altitude: 62.7098190000002 # Commanded vehicle depth: 2333.394121 # Seafloor depth: -2396.103940 # 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 38 # Segment length 100.127045 meters # Minimum depth: 2378.049657 meters looking forward 200.000000 meters along route # Maximum depth: 2396.354917 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2328.049657 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.519120; longitude = -130.028110; duration = 400; initialDepth = 2328.049657; finalDepth = 2328.049657; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.7098190000002 # Actual altitude: 62.7098190000002 # Commanded vehicle depth: 2328.049657 # Seafloor depth: -2387.661953 # 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 38 # Segment length 100.127049 meters # Minimum depth: 2378.049657 meters looking forward 200.000000 meters along route # Maximum depth: 2408.186741 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2328.049657 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.520019; longitude = -130.028007; duration = 400; initialDepth = 2336.348577; finalDepth = 2328.049657; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.6122959999998 # Actual altitude: 59.6122959999998 # Commanded vehicle depth: 2328.049657 # Seafloor depth: -2383.119054 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 100.127052 meters # Minimum depth: 2386.348577 meters looking forward 200.000000 meters along route # Maximum depth: 2408.898155 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2336.348577 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.520917; longitude = -130.027904; duration = 400; initialDepth = 2329.163252; finalDepth = 2336.348577; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.8263779999997 # Actual altitude: 69.8263779999997 # Commanded vehicle depth: 2336.348577 # Seafloor depth: -2406.174955 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 100.127056 meters # Minimum depth: 2379.163252 meters looking forward 200.000000 meters along route # Maximum depth: 2408.898155 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2329.163252 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.521815; longitude = -130.027801; duration = 400; initialDepth = 2327.796695; finalDepth = 2329.163252; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.8263779999997 # Actual altitude: 69.8263779999997 # Commanded vehicle depth: 2329.163252 # Seafloor depth: -2392.157770 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 100.127060 meters # Minimum depth: 2377.796695 meters looking forward 200.000000 meters along route # Maximum depth: 2388.820741 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2327.796695 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.522714; longitude = -130.027698; duration = 400; initialDepth = 2327.796695; finalDepth = 2327.796695; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.994518 # Actual altitude: 62.994518 # Commanded vehicle depth: 2327.796695 # Seafloor depth: -2379.156673 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 100.127063 meters # Minimum depth: 2377.796695 meters looking forward 200.000000 meters along route # Maximum depth: 2381.987160 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2327.796695 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.523612; longitude = -130.027595; duration = 400; initialDepth = 2324.625912; finalDepth = 2327.796695; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.359978 # Actual altitude: 51.359978 # Commanded vehicle depth: 2327.796695 # Seafloor depth: -2378.927359 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 100.127067 meters # Minimum depth: 2374.625912 meters looking forward 200.000000 meters along route # Maximum depth: 2381.987160 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2324.625912 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.524510; longitude = -130.027492; duration = 400; initialDepth = 2309.757918; finalDepth = 2324.625912; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5529769999998 # Actual altitude: 54.5529769999998 # Commanded vehicle depth: 2324.625912 # Seafloor depth: -2379.178889 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 100.127070 meters # Minimum depth: 2359.757918 meters looking forward 200.000000 meters along route # Maximum depth: 2377.931336 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2309.757918 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.525408; longitude = -130.027390; duration = 400; initialDepth = 2305.728503; finalDepth = 2309.757918; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.0300460000003 # Actual altitude: 67.0300460000003 # Commanded vehicle depth: 2309.757918 # Seafloor depth: -2376.787964 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 100.127074 meters # Minimum depth: 2355.728503 meters looking forward 200.000000 meters along route # Maximum depth: 2376.293113 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2305.728503 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.526307; longitude = -130.027287; duration = 400; initialDepth = 2305.728503; finalDepth = 2305.728503; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.0300460000003 # Actual altitude: 67.0300460000003 # Commanded vehicle depth: 2305.728503 # Seafloor depth: -2360.027618 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 100.127078 meters # Minimum depth: 2355.728503 meters looking forward 200.000000 meters along route # Maximum depth: 2391.388367 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2305.728503 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.527205; longitude = -130.027184; duration = 400; initialDepth = 2315.658242; finalDepth = 2305.728503; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.860169 # Actual altitude: 60.860169 # Commanded vehicle depth: 2305.728503 # Seafloor depth: -2366.588672 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 100.127081 meters # Minimum depth: 2365.658242 meters looking forward 200.000000 meters along route # Maximum depth: 2395.570882 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2315.658242 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.528103; longitude = -130.027081; duration = 400; initialDepth = 2317.938166; finalDepth = 2315.658242; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.1605869999999 # Actual altitude: 77.1605869999999 # Commanded vehicle depth: 2315.658242 # Seafloor depth: -2392.818829 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 100.127085 meters # Minimum depth: 2367.938166 meters looking forward 200.000000 meters along route # Maximum depth: 2395.570882 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2317.938166 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.529001; longitude = -130.026978; duration = 400; initialDepth = 2308.631758; finalDepth = 2317.938166; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.1605869999999 # Actual altitude: 77.1605869999999 # Commanded vehicle depth: 2317.938166 # Seafloor depth: -2383.773223 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 100.127088 meters # Minimum depth: 2358.631758 meters looking forward 200.000000 meters along route # Maximum depth: 2382.514036 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2308.631758 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.529900; longitude = -130.026875; duration = 400; initialDepth = 2305.596010; finalDepth = 2308.631758; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.8350570000002 # Actual altitude: 65.8350570000002 # Commanded vehicle depth: 2308.631758 # Seafloor depth: -2370.884915 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 100.127093 meters # Minimum depth: 2355.596010 meters looking forward 200.000000 meters along route # Maximum depth: 2370.516865 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2305.596010 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.530798; longitude = -130.026772; duration = 400; initialDepth = 2277.846590; finalDepth = 2305.596010; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.2531570000001 # Actual altitude: 62.2531570000001 # Commanded vehicle depth: 2305.59601 # Seafloor depth: -2363.764344 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 100.127095 meters # Minimum depth: 2327.846590 meters looking forward 200.000000 meters along route # Maximum depth: 2363.943264 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2277.846590 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.531696; longitude = -130.026669; duration = 400; initialDepth = 2277.846590; finalDepth = 2277.846590; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.940619 # Actual altitude: 75.940619 # Commanded vehicle depth: 2277.84659 # Seafloor depth: -2353.787209 # 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 38 # Segment length 100.127100 meters # Minimum depth: 2327.846590 meters looking forward 200.000000 meters along route # Maximum depth: 2351.792481 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2277.846590 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.532595; longitude = -130.026566; duration = 400; initialDepth = 2276.083904; finalDepth = 2277.846590; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.940619 # Actual altitude: 75.940619 # Commanded vehicle depth: 2277.84659 # Seafloor depth: -2329.439748 # 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 38 # Segment length 100.180857 meters # Minimum depth: 2326.083904 meters looking forward 200.000000 meters along route # Maximum depth: 2331.552811 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2276.083904 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.533493; longitude = -130.026464; duration = 400; initialDepth = 2274.014871; finalDepth = 2276.083904; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5931579999997 # Actual altitude: 51.5931579999997 # Commanded vehicle depth: 2276.083904 # Seafloor depth: -2327.465557 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 100.073352 meters # Minimum depth: 2324.014871 meters looking forward 200.000000 meters along route # Maximum depth: 2332.090868 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2274.014871 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.534392; longitude = -130.026361; duration = 400; initialDepth = 2274.014871; finalDepth = 2274.014871; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.2005800000002 # Actual altitude: 56.2005800000002 # Commanded vehicle depth: 2274.014871 # Seafloor depth: -2330.215451 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 100.127110 meters # Minimum depth: 2324.014871 meters looking forward 200.000000 meters along route # Maximum depth: 2337.316274 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2274.014871 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.535289; longitude = -130.026258; duration = 400; initialDepth = 2280.470499; finalDepth = 2274.014871; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.2005800000002 # Actual altitude: 56.2005800000002 # Commanded vehicle depth: 2274.014871 # Seafloor depth: -2327.131068 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 100.127114 meters # Minimum depth: 2330.470499 meters looking forward 200.000000 meters along route # Maximum depth: 2341.705606 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2280.470499 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.536188; longitude = -130.026155; duration = 400; initialDepth = 2282.066356; finalDepth = 2280.470499; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.6326260000001 # Actual altitude: 56.6326260000001 # Commanded vehicle depth: 2280.470499 # Seafloor depth: -2337.103125 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 100.127117 meters # Minimum depth: 2332.066356 meters looking forward 200.000000 meters along route # Maximum depth: 2342.112131 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2282.066356 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.537086; longitude = -130.026052; duration = 400; initialDepth = 2277.647083; finalDepth = 2282.066356; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.5084110000003 # Actual altitude: 58.5084110000003 # Commanded vehicle depth: 2282.066356 # Seafloor depth: -2340.574767 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 100.127121 meters # Minimum depth: 2327.647083 meters looking forward 200.000000 meters along route # Maximum depth: 2342.112131 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2277.647083 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.537984; longitude = -130.025949; duration = 400; initialDepth = 2277.647083; finalDepth = 2277.647083; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.5084110000003 # Actual altitude: 58.5084110000003 # Commanded vehicle depth: 2277.647083 # Seafloor depth: -2331.197405 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 100.127125 meters # Minimum depth: 2327.647083 meters looking forward 200.000000 meters along route # Maximum depth: 2330.432180 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2277.647083 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.538882; longitude = -130.025846; duration = 400; initialDepth = 2274.554119; finalDepth = 2277.647083; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.5503220000001 # Actual altitude: 53.5503220000001 # Commanded vehicle depth: 2277.647083 # Seafloor depth: -2328.996725 # 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 38 # Segment length 100.127128 meters # Minimum depth: 2324.554119 meters looking forward 200.000000 meters along route # Maximum depth: 2331.298643 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2274.554119 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.539781; longitude = -130.025743; duration = 400; initialDepth = 2274.554119; finalDepth = 2274.554119; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7190479999999 # Actual altitude: 54.7190479999999 # Commanded vehicle depth: 2274.554119 # Seafloor depth: -2329.273167 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 100.127132 meters # Minimum depth: 2324.554119 meters looking forward 200.000000 meters along route # Maximum depth: 2331.298643 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2274.554119 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.540679; longitude = -130.025640; duration = 400; initialDepth = 2265.665443; finalDepth = 2274.554119; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.2977220000002 # Actual altitude: 56.2977220000002 # Commanded vehicle depth: 2274.554119 # Seafloor depth: -2330.851841 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 100.127135 meters # Minimum depth: 2315.665443 meters looking forward 200.000000 meters along route # Maximum depth: 2330.628661 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2265.665443 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.541577; longitude = -130.025538; duration = 400; initialDepth = 2263.546069; finalDepth = 2265.665443; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.1452389999999 # Actual altitude: 58.1452389999999 # Commanded vehicle depth: 2265.665443 # Seafloor depth: -2323.810682 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 100.127139 meters # Minimum depth: 2313.546069 meters looking forward 200.000000 meters along route # Maximum depth: 2324.502928 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2263.546069 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.542476; longitude = -130.025435; duration = 400; initialDepth = 2263.546069; finalDepth = 2263.546069; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.1452389999999 # Actual altitude: 58.1452389999999 # Commanded vehicle depth: 2263.546069 # Seafloor depth: -2317.909190 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 100.127143 meters # Minimum depth: 2313.546069 meters looking forward 200.000000 meters along route # Maximum depth: 2320.140902 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2263.546069 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.543374; longitude = -130.025332; duration = 400; initialDepth = 2261.999240; finalDepth = 2263.546069; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.3631209999999 # Actual altitude: 54.3631209999999 # Commanded vehicle depth: 2263.546069 # Seafloor depth: -2317.178572 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 100.127146 meters # Minimum depth: 2311.999240 meters looking forward 200.000000 meters along route # Maximum depth: 2326.482079 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2261.999240 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.544272; longitude = -130.025229; duration = 400; initialDepth = 2261.999240; finalDepth = 2261.999240; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.190748 # Actual altitude: 59.190748 # Commanded vehicle depth: 2261.99924 # Seafloor depth: -2321.189988 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 100.127150 meters # Minimum depth: 2311.999240 meters looking forward 200.000000 meters along route # Maximum depth: 2326.482079 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2261.999240 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.545170; longitude = -130.025126; duration = 400; initialDepth = 2265.555997; finalDepth = 2261.999240; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.190748 # Actual altitude: 59.190748 # Commanded vehicle depth: 2261.99924 # Seafloor depth: -2314.366823 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 100.127154 meters # Minimum depth: 2315.555997 meters looking forward 200.000000 meters along route # Maximum depth: 2325.277639 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2265.555997 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.546069; longitude = -130.025023; duration = 400; initialDepth = 2260.125321; finalDepth = 2265.555997; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.4100520000002 # Actual altitude: 55.4100520000002 # Commanded vehicle depth: 2265.555997 # Seafloor depth: -2320.966049 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 100.127157 meters # Minimum depth: 2310.125321 meters looking forward 200.000000 meters along route # Maximum depth: 2325.277639 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2260.125321 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.546967; longitude = -130.024920; duration = 400; initialDepth = 2256.343050; finalDepth = 2260.125321; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.4100520000002 # Actual altitude: 55.4100520000002 # Commanded vehicle depth: 2260.125321 # Seafloor depth: -2314.093837 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 100.127160 meters # Minimum depth: 2306.343050 meters looking forward 200.000000 meters along route # Maximum depth: 2319.511260 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2256.343050 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.547865; longitude = -130.024817; duration = 400; initialDepth = 2251.549155; finalDepth = 2256.343050; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.5668799999999 # Actual altitude: 60.5668799999999 # Commanded vehicle depth: 2256.34305 # Seafloor depth: -2316.909930 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 100.127165 meters # Minimum depth: 2301.549155 meters looking forward 200.000000 meters along route # Maximum depth: 2319.511260 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2251.549155 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.548764; longitude = -130.024714; duration = 400; initialDepth = 2243.898821; finalDepth = 2251.549155; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.5668799999999 # Actual altitude: 60.5668799999999 # Commanded vehicle depth: 2251.549155 # Seafloor depth: -2304.375994 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 100.127168 meters # Minimum depth: 2293.898821 meters looking forward 200.000000 meters along route # Maximum depth: 2306.160244 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2243.898821 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.549662; longitude = -130.024612; duration = 400; initialDepth = 2243.898821; finalDepth = 2243.898821; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.4983479999996 # Actual altitude: 60.4983479999996 # Commanded vehicle depth: 2243.898821 # Seafloor depth: -2304.397169 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 100.127171 meters # Minimum depth: 2293.898821 meters looking forward 200.000000 meters along route # Maximum depth: 2303.699964 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2243.898821 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.550560; longitude = -130.024509; duration = 400; initialDepth = 2232.939031; finalDepth = 2243.898821; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.4983479999996 # Actual altitude: 60.4983479999996 # Commanded vehicle depth: 2243.898821 # Seafloor depth: -2297.248944 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 100.127175 meters # Minimum depth: 2282.939031 meters looking forward 200.000000 meters along route # Maximum depth: 2303.107534 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2232.939031 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.551458; longitude = -130.024406; duration = 400; initialDepth = 2230.365464; finalDepth = 2232.939031; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.3401670000003 # Actual altitude: 62.3401670000003 # Commanded vehicle depth: 2232.939031 # Seafloor depth: -2295.279198 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 100.127179 meters # Minimum depth: 2280.365464 meters looking forward 200.000000 meters along route # Maximum depth: 2293.525497 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2230.365464 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.552357; longitude = -130.024303; duration = 400; initialDepth = 2224.322365; finalDepth = 2230.365464; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.3401670000003 # Actual altitude: 62.3401670000003 # Commanded vehicle depth: 2230.365464 # Seafloor depth: -2285.126648 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 100.127183 meters # Minimum depth: 2274.322365 meters looking forward 200.000000 meters along route # Maximum depth: 2296.278050 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2224.322365 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.553255; longitude = -130.024200; duration = 400; initialDepth = 2224.322365; finalDepth = 2224.322365; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.761184 # Actual altitude: 54.761184 # Commanded vehicle depth: 2224.322365 # Seafloor depth: -2278.965932 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 100.127186 meters # Minimum depth: 2274.322365 meters looking forward 200.000000 meters along route # Maximum depth: 2298.316792 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2224.322365 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.554153; longitude = -130.024097; duration = 400; initialDepth = 2237.562096; finalDepth = 2224.322365; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.2451000000001 # Actual altitude: 69.2451000000001 # Commanded vehicle depth: 2224.322365 # Seafloor depth: -2293.567465 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 100.127189 meters # Minimum depth: 2287.562096 meters looking forward 200.000000 meters along route # Maximum depth: 2308.489274 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2237.562096 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.555051; longitude = -130.023994; duration = 400; initialDepth = 2249.326739; finalDepth = 2237.562096; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.2451000000001 # Actual altitude: 69.2451000000001 # Commanded vehicle depth: 2237.562096 # Seafloor depth: -2299.580699 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 100.127193 meters # Minimum depth: 2299.326739 meters looking forward 200.000000 meters along route # Maximum depth: 2309.796206 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2249.326739 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.555950; longitude = -130.023891; duration = 400; initialDepth = 2252.461093; finalDepth = 2249.326739; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.018603 # Actual altitude: 62.018603 # Commanded vehicle depth: 2249.326739 # Seafloor depth: -2306.585497 # 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 38 # Segment length 100.127197 meters # Minimum depth: 2302.461093 meters looking forward 200.000000 meters along route # Maximum depth: 2313.028976 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2252.461093 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.556848; longitude = -130.023788; duration = 400; initialDepth = 2259.007616; finalDepth = 2252.461093; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.6811740000003 # Actual altitude: 57.6811740000003 # Commanded vehicle depth: 2252.461093 # Seafloor depth: -2310.142267 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 102.511182 meters # Minimum depth: 2309.007616 meters looking forward 200.000000 meters along route # Maximum depth: 2314.880026 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2259.007616 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.557746; longitude = -130.023686; duration = 410; initialDepth = 2256.150065; finalDepth = 2259.007616; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 57.6811740000003 # Actual altitude: 57.6811740000003 # Commanded vehicle depth: 2259.007616 # Seafloor depth: -2312.359051 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 37 # Segment length 160.255887 meters # Minimum depth: 2306.150065 meters looking forward 200.000000 meters along route # Maximum depth: 2334.674479 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2256.150065 meters set by local depth and desired altitude # Vehicle transit speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.558666; longitude = -130.023580; duration = 641; # abortOnTimeout = True; initialDepth = 2261.205729; finalDepth = 2256.150065; speed = 1.500000; } ####################################################### # Acoustic update 6 - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 55.0299480000003 # Actual altitude: 55.0299480000003 # Commanded vehicle depth: 2256.150065 # Seafloor depth: -2311.180013 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 36 # Segment length 123.987182 meters # Minimum depth: 2311.205729 meters looking forward 200.000000 meters along route # Maximum depth: 2342.853957 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2261.205729 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.558666; longitude = -130.021527; duration = 495; # abortOnTimeout = True; initialDepth = 2279.021916; finalDepth = 2261.205729; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.633464 # Actual altitude: 73.633464 # Commanded vehicle depth: 2261.205729 # Seafloor depth: -2334.839193 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 100.143489 meters # Minimum depth: 2329.021916 meters looking forward 200.000000 meters along route # Maximum depth: 2342.853957 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2279.021916 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.557554; longitude = -130.021658; duration = 400; initialDepth = 2272.953117; finalDepth = 2279.021916; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.633464 # Actual altitude: 73.633464 # Commanded vehicle depth: 2279.021916 # Seafloor depth: -2340.990543 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.143487 meters # Minimum depth: 2322.953117 meters looking forward 200.000000 meters along route # Maximum depth: 2339.891869 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2272.953117 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.556656; longitude = -130.021763; duration = 400; initialDepth = 2272.953117; finalDepth = 2272.953117; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.9686269999997 # Actual altitude: 61.9686269999997 # Commanded vehicle depth: 2272.953117 # Seafloor depth: -2328.210549 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.143484 meters # Minimum depth: 2322.953117 meters looking forward 200.000000 meters along route # Maximum depth: 2328.321939 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2272.953117 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.555757; longitude = -130.021869; duration = 400; initialDepth = 2262.707479; finalDepth = 2272.953117; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.2574319999999 # Actual altitude: 55.2574319999999 # Commanded vehicle depth: 2272.953117 # Seafloor depth: -2326.674580 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.143480 meters # Minimum depth: 2312.707479 meters looking forward 200.000000 meters along route # Maximum depth: 2327.729346 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2262.707479 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.554859; longitude = -130.021974; duration = 400; initialDepth = 2253.036589; finalDepth = 2262.707479; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.2284549999999 # Actual altitude: 60.2284549999999 # Commanded vehicle depth: 2262.707479 # Seafloor depth: -2322.935934 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.143478 meters # Minimum depth: 2303.036589 meters looking forward 200.000000 meters along route # Maximum depth: 2322.926954 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2253.036589 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.553961; longitude = -130.022079; duration = 400; initialDepth = 2242.370139; finalDepth = 2253.036589; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.5234190000001 # Actual altitude: 62.5234190000001 # Commanded vehicle depth: 2253.036589 # Seafloor depth: -2315.560008 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.143474 meters # Minimum depth: 2292.370139 meters looking forward 200.000000 meters along route # Maximum depth: 2314.987314 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2242.370139 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.553062; longitude = -130.022185; duration = 400; initialDepth = 2242.370139; finalDepth = 2242.370139; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.5234190000001 # Actual altitude: 62.5234190000001 # Commanded vehicle depth: 2242.370139 # Seafloor depth: -2301.702511 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.143472 meters # Minimum depth: 2292.370139 meters looking forward 200.000000 meters along route # Maximum depth: 2300.828291 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2242.370139 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.552164; longitude = -130.022290; duration = 400; initialDepth = 2243.410092; finalDepth = 2242.370139; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.3323719999999 # Actual altitude: 59.3323719999999 # Commanded vehicle depth: 2242.370139 # Seafloor depth: -2295.650810 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.143468 meters # Minimum depth: 2293.410092 meters looking forward 200.000000 meters along route # Maximum depth: 2306.946870 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2243.410092 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.551266; longitude = -130.022396; duration = 400; initialDepth = 2252.584570; finalDepth = 2243.410092; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.6515159999999 # Actual altitude: 57.6515159999999 # Commanded vehicle depth: 2243.410092 # Seafloor depth: -2301.061608 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.143466 meters # Minimum depth: 2302.584570 meters looking forward 200.000000 meters along route # Maximum depth: 2320.503804 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2252.584570 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.550368; longitude = -130.022501; duration = 400; initialDepth = 2257.509356; finalDepth = 2252.584570; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.6515159999999 # Actual altitude: 57.6515159999999 # Commanded vehicle depth: 2252.58457 # Seafloor depth: -2307.141046 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.143462 meters # Minimum depth: 2307.509356 meters looking forward 200.000000 meters along route # Maximum depth: 2333.345234 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2257.509356 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.549469; longitude = -130.022607; duration = 400; initialDepth = 2273.528465; finalDepth = 2257.509356; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.418028 # Actual altitude: 64.418028 # Commanded vehicle depth: 2257.509356 # Seafloor depth: -2321.927384 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.143459 meters # Minimum depth: 2323.528465 meters looking forward 200.000000 meters along route # Maximum depth: 2339.320042 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2273.528465 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.548571; longitude = -130.022712; duration = 400; initialDepth = 2277.121140; finalDepth = 2273.528465; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.418028 # Actual altitude: 64.418028 # Commanded vehicle depth: 2273.528465 # Seafloor depth: -2333.432088 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.143456 meters # Minimum depth: 2327.121140 meters looking forward 200.000000 meters along route # Maximum depth: 2343.952595 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2277.121140 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.547673; longitude = -130.022818; duration = 400; initialDepth = 2277.121140; finalDepth = 2277.121140; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.9036230000002 # Actual altitude: 59.9036230000002 # Commanded vehicle depth: 2277.12114 # Seafloor depth: -2333.736889 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.143453 meters # Minimum depth: 2327.121140 meters looking forward 200.000000 meters along route # Maximum depth: 2346.407921 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2277.121140 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.546774; longitude = -130.022923; duration = 400; initialDepth = 2284.664814; finalDepth = 2277.121140; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.8540149999999 # Actual altitude: 60.8540149999999 # Commanded vehicle depth: 2277.12114 # Seafloor depth: -2337.975155 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.143450 meters # Minimum depth: 2334.664814 meters looking forward 200.000000 meters along route # Maximum depth: 2346.407921 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2284.664814 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.545876; longitude = -130.023029; duration = 400; initialDepth = 2283.859043; finalDepth = 2284.664814; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.8540149999999 # Actual altitude: 60.8540149999999 # Commanded vehicle depth: 2284.664814 # Seafloor depth: -2341.546866 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.143447 meters # Minimum depth: 2333.859043 meters looking forward 200.000000 meters along route # Maximum depth: 2343.667268 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2283.859043 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.544978; longitude = -130.023134; duration = 400; initialDepth = 2282.544414; finalDepth = 2283.859043; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.8820519999999 # Actual altitude: 56.8820519999999 # Commanded vehicle depth: 2283.859043 # Seafloor depth: -2340.615837 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.143444 meters # Minimum depth: 2332.544414 meters looking forward 200.000000 meters along route # Maximum depth: 2340.256321 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2282.544414 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.544080; longitude = -130.023240; duration = 400; initialDepth = 2275.141365; finalDepth = 2282.544414; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.7567939999999 # Actual altitude: 56.7567939999999 # Commanded vehicle depth: 2282.544414 # Seafloor depth: -2333.848043 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.143441 meters # Minimum depth: 2325.141365 meters looking forward 200.000000 meters along route # Maximum depth: 2334.932456 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2275.141365 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.543181; longitude = -130.023345; duration = 400; initialDepth = 2270.560610; finalDepth = 2275.141365; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.3877710000002 # Actual altitude: 57.3877710000002 # Commanded vehicle depth: 2275.141365 # Seafloor depth: -2332.529136 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.143438 meters # Minimum depth: 2320.560610 meters looking forward 200.000000 meters along route # Maximum depth: 2334.207183 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2270.560610 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.542283; longitude = -130.023451; duration = 400; initialDepth = 2270.560610; finalDepth = 2270.560610; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.3877710000002 # Actual altitude: 57.3877710000002 # Commanded vehicle depth: 2270.56061 # Seafloor depth: -2322.109145 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.143434 meters # Minimum depth: 2320.560610 meters looking forward 200.000000 meters along route # Maximum depth: 2339.401503 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2270.560610 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.541385; longitude = -130.023556; duration = 400; initialDepth = 2277.642347; finalDepth = 2270.560610; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.1545599999999 # Actual altitude: 60.1545599999999 # Commanded vehicle depth: 2270.56061 # Seafloor depth: -2330.715170 # 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 36 # Segment length 100.143432 meters # Minimum depth: 2327.642347 meters looking forward 200.000000 meters along route # Maximum depth: 2339.401503 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2277.642347 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.540487; longitude = -130.023661; duration = 400; initialDepth = 2273.255082; finalDepth = 2277.642347; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.1545599999999 # Actual altitude: 60.1545599999999 # Commanded vehicle depth: 2277.642347 # Seafloor depth: -2337.213284 # 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 36 # Segment length 100.143429 meters # Minimum depth: 2323.255082 meters looking forward 200.000000 meters along route # Maximum depth: 2336.938428 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2273.255082 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.539588; longitude = -130.023767; duration = 400; initialDepth = 2273.255082; finalDepth = 2273.255082; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.570937 # Actual altitude: 59.570937 # Commanded vehicle depth: 2273.255082 # Seafloor depth: -2331.189147 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.143425 meters # Minimum depth: 2323.255082 meters looking forward 200.000000 meters along route # Maximum depth: 2330.991600 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2273.255082 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.538690; longitude = -130.023872; duration = 400; initialDepth = 2276.229875; finalDepth = 2273.255082; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.9340649999999 # Actual altitude: 57.9340649999999 # Commanded vehicle depth: 2273.255082 # Seafloor depth: -2327.878513 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.143423 meters # Minimum depth: 2326.229875 meters looking forward 200.000000 meters along route # Maximum depth: 2331.840898 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2276.229875 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.537792; longitude = -130.023978; duration = 400; initialDepth = 2273.912137; finalDepth = 2276.229875; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.623431 # Actual altitude: 54.623431 # Commanded vehicle depth: 2276.229875 # Seafloor depth: -2326.533144 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.143419 meters # Minimum depth: 2323.912137 meters looking forward 200.000000 meters along route # Maximum depth: 2332.351340 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2273.912137 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.536893; longitude = -130.024083; duration = 400; initialDepth = 2273.912137; finalDepth = 2273.912137; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.1695580000001 # Actual altitude: 58.1695580000001 # Commanded vehicle depth: 2273.912137 # Seafloor depth: -2332.081695 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.143417 meters # Minimum depth: 2323.912137 meters looking forward 200.000000 meters along route # Maximum depth: 2334.753808 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2273.912137 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.535995; longitude = -130.024189; duration = 400; initialDepth = 2274.201447; finalDepth = 2273.912137; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.1695580000001 # Actual altitude: 58.1695580000001 # Commanded vehicle depth: 2273.912137 # Seafloor depth: -2326.761272 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.143413 meters # Minimum depth: 2324.201447 meters looking forward 200.000000 meters along route # Maximum depth: 2359.832331 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2274.201447 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.535097; longitude = -130.024294; duration = 400; initialDepth = 2287.809433; finalDepth = 2274.201447; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.8709610000001 # Actual altitude: 61.8709610000001 # Commanded vehicle depth: 2274.201447 # Seafloor depth: -2336.072408 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.143410 meters # Minimum depth: 2337.809433 meters looking forward 200.000000 meters along route # Maximum depth: 2366.798970 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2287.809433 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.534199; longitude = -130.024400; duration = 400; initialDepth = 2300.099897; finalDepth = 2287.809433; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.3251660000001 # Actual altitude: 72.3251660000001 # Commanded vehicle depth: 2287.809433 # Seafloor depth: -2360.134599 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.143408 meters # Minimum depth: 2350.099897 meters looking forward 200.000000 meters along route # Maximum depth: 2366.798970 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2300.099897 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.533300; longitude = -130.024505; duration = 400; initialDepth = 2300.099897; finalDepth = 2300.099897; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.3251660000001 # Actual altitude: 72.3251660000001 # Commanded vehicle depth: 2300.099897 # Seafloor depth: -2357.602288 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.143404 meters # Minimum depth: 2350.099897 meters looking forward 200.000000 meters along route # Maximum depth: 2378.540412 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2300.099897 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.532402; longitude = -130.024611; duration = 400; initialDepth = 2303.493991; finalDepth = 2300.099897; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.502391 # Actual altitude: 57.502391 # Commanded vehicle depth: 2300.099897 # Seafloor depth: -2352.405470 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.143401 meters # Minimum depth: 2353.493991 meters looking forward 200.000000 meters along route # Maximum depth: 2385.860820 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2303.493991 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.531504; longitude = -130.024716; duration = 400; initialDepth = 2328.209244; finalDepth = 2303.493991; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.500254 # Actual altitude: 76.500254 # Commanded vehicle depth: 2303.493991 # Seafloor depth: -2379.994245 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.143398 meters # Minimum depth: 2378.209244 meters looking forward 200.000000 meters along route # Maximum depth: 2401.051726 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2328.209244 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.530606; longitude = -130.024822; duration = 400; initialDepth = 2332.409551; finalDepth = 2328.209244; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.500254 # Actual altitude: 76.500254 # Commanded vehicle depth: 2328.209244 # Seafloor depth: -2382.734735 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.143395 meters # Minimum depth: 2382.409551 meters looking forward 200.000000 meters along route # Maximum depth: 2412.875779 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2332.409551 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.529707; longitude = -130.024927; duration = 400; initialDepth = 2353.226738; finalDepth = 2332.409551; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.803817 # Actual altitude: 69.803817 # Commanded vehicle depth: 2332.409551 # Seafloor depth: -2402.213368 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.143392 meters # Minimum depth: 2403.226738 meters looking forward 200.000000 meters along route # Maximum depth: 2416.900296 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2353.226738 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.528809; longitude = -130.025032; duration = 400; initialDepth = 2331.046095; finalDepth = 2353.226738; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.803817 # Actual altitude: 69.803817 # Commanded vehicle depth: 2353.226738 # Seafloor depth: -2414.718845 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.143389 meters # Minimum depth: 2381.046095 meters looking forward 200.000000 meters along route # Maximum depth: 2416.900296 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2331.046095 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.527911; longitude = -130.025138; duration = 400; initialDepth = 2319.894391; finalDepth = 2331.046095; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.46099 # Actual altitude: 76.46099 # Commanded vehicle depth: 2331.046095 # Seafloor depth: -2407.507085 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.143386 meters # Minimum depth: 2369.894391 meters looking forward 200.000000 meters along route # Maximum depth: 2406.058602 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2319.894391 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.527012; longitude = -130.025243; duration = 400; initialDepth = 2306.167203; finalDepth = 2319.894391; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.46099 # Actual altitude: 76.46099 # Commanded vehicle depth: 2319.894391 # Seafloor depth: -2379.241774 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.143383 meters # Minimum depth: 2356.167203 meters looking forward 200.000000 meters along route # Maximum depth: 2377.787748 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2306.167203 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.526114; longitude = -130.025349; duration = 400; initialDepth = 2306.167203; finalDepth = 2306.167203; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.958212 # Actual altitude: 61.958212 # Commanded vehicle depth: 2306.167203 # Seafloor depth: -2368.125415 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.143380 meters # Minimum depth: 2356.167203 meters looking forward 200.000000 meters along route # Maximum depth: 2369.007022 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2306.167203 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.525216; longitude = -130.025454; duration = 400; initialDepth = 2311.219900; finalDepth = 2306.167203; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.958212 # Actual altitude: 61.958212 # Commanded vehicle depth: 2306.167203 # Seafloor depth: -2363.438854 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.143376 meters # Minimum depth: 2361.219900 meters looking forward 200.000000 meters along route # Maximum depth: 2377.364765 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2311.219900 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.524318; longitude = -130.025560; duration = 400; initialDepth = 2313.577249; finalDepth = 2311.219900; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.271651 # Actual altitude: 57.271651 # Commanded vehicle depth: 2311.2199 # Seafloor depth: -2365.899069 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.143374 meters # Minimum depth: 2363.577249 meters looking forward 200.000000 meters along route # Maximum depth: 2377.364765 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2313.577249 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.523419; longitude = -130.025665; duration = 400; initialDepth = 2313.577249; finalDepth = 2313.577249; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.7664570000002 # Actual altitude: 61.7664570000002 # Commanded vehicle depth: 2313.577249 # Seafloor depth: -2375.343706 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.143371 meters # Minimum depth: 2363.577249 meters looking forward 200.000000 meters along route # Maximum depth: 2375.904616 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2313.577249 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.522521; longitude = -130.025771; duration = 400; initialDepth = 2318.566143; finalDepth = 2313.577249; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.7664570000002 # Actual altitude: 61.7664570000002 # Commanded vehicle depth: 2313.577249 # Seafloor depth: -2368.803638 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.143367 meters # Minimum depth: 2368.566143 meters looking forward 200.000000 meters along route # Maximum depth: 2375.904616 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2318.566143 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.521623; longitude = -130.025876; duration = 400; initialDepth = 2320.630356; finalDepth = 2318.566143; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.2263889999999 # Actual altitude: 55.2263889999999 # Commanded vehicle depth: 2318.566143 # Seafloor depth: -2372.458688 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.143365 meters # Minimum depth: 2370.630356 meters looking forward 200.000000 meters along route # Maximum depth: 2377.213875 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2320.630356 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.520724; longitude = -130.025982; duration = 400; initialDepth = 2322.494578; finalDepth = 2320.630356; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.8925450000002 # Actual altitude: 53.8925450000002 # Commanded vehicle depth: 2320.630356 # Seafloor depth: -2371.930933 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.143361 meters # Minimum depth: 2372.494578 meters looking forward 200.000000 meters along route # Maximum depth: 2377.240792 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2322.494578 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.519826; longitude = -130.026087; duration = 400; initialDepth = 2323.869949; finalDepth = 2322.494578; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.3873680000002 # Actual altitude: 53.3873680000002 # Commanded vehicle depth: 2322.494578 # Seafloor depth: -2375.881946 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.143359 meters # Minimum depth: 2373.869949 meters looking forward 200.000000 meters along route # Maximum depth: 2379.635780 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2323.869949 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.518928; longitude = -130.026193; duration = 400; initialDepth = 2325.073759; finalDepth = 2323.869949; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.3873680000002 # Actual altitude: 53.3873680000002 # Commanded vehicle depth: 2323.869949 # Seafloor depth: -2376.957909 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.143355 meters # Minimum depth: 2375.073759 meters looking forward 200.000000 meters along route # Maximum depth: 2388.023700 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2325.073759 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.518030; longitude = -130.026298; duration = 400; initialDepth = 2330.211313; finalDepth = 2325.073759; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5687360000002 # Actual altitude: 54.5687360000002 # Commanded vehicle depth: 2325.073759 # Seafloor depth: -2379.642495 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.143352 meters # Minimum depth: 2380.211313 meters looking forward 200.000000 meters along route # Maximum depth: 2388.023700 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2330.211313 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.517131; longitude = -130.026403; duration = 400; initialDepth = 2330.424772; finalDepth = 2330.211313; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.5371190000001 # Actual altitude: 55.5371190000001 # Commanded vehicle depth: 2330.211313 # Seafloor depth: -2385.748432 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 102.850905 meters # Minimum depth: 2380.424772 meters looking forward 200.000000 meters along route # Maximum depth: 2404.645804 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2330.424772 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.516233; longitude = -130.026509; duration = 411; initialDepth = 2338.020855; finalDepth = 2330.424772; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.4372090000002 # Actual altitude: 56.4372090000002 # Commanded vehicle depth: 2330.424772 # Seafloor depth: -2386.861981 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 102.292900 meters # Minimum depth: 2388.020855 meters looking forward 200.000000 meters along route # Maximum depth: 2405.334413 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2338.020855 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.515311; longitude = -130.026617; duration = 409; initialDepth = 2335.050655; finalDepth = 2338.020855; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 66.5698479999996 # Actual altitude: 66.5698479999996 # Commanded vehicle depth: 2338.020855 # Seafloor depth: -2404.590703 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 35 # Segment length 150.049556 meters # Minimum depth: 2385.050655 meters looking forward 200.000000 meters along route # Maximum depth: 2403.592468 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2335.050655 meters set by local depth and desired altitude # Vehicle transit speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.514393; longitude = -130.026725; duration = 600; # abortOnTimeout = True; initialDepth = 2328.065994; finalDepth = 2335.050655; speed = 1.500000; } ####################################################### # Acoustic update 6 - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 68.4454390000001 # Actual altitude: 68.4454390000001 # Commanded vehicle depth: 2335.050655 # Seafloor depth: -2403.496094 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 34 # Segment length 152.579719 meters # Minimum depth: 2378.065994 meters looking forward 200.000000 meters along route # Maximum depth: 2401.809570 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2328.065994 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.514287; longitude = -130.024810; duration = 610; # abortOnTimeout = True; initialDepth = 2328.065994; finalDepth = 2328.065994; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.7435759999998 # Actual altitude: 73.7435759999998 # Commanded vehicle depth: 2328.065994 # Seafloor depth: -2401.809570 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 100.141037 meters # Minimum depth: 2378.065994 meters looking forward 200.000000 meters along route # Maximum depth: 2392.364433 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2328.065994 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.515656; longitude = -130.024650; duration = 400; initialDepth = 2333.720580; finalDepth = 2328.065994; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.7435759999998 # Actual altitude: 73.7435759999998 # Commanded vehicle depth: 2328.065994 # Seafloor depth: -2383.480094 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 100.141041 meters # Minimum depth: 2383.720580 meters looking forward 200.000000 meters along route # Maximum depth: 2404.663897 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2333.720580 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.516554; longitude = -130.024545; duration = 400; initialDepth = 2343.041795; finalDepth = 2333.720580; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.7303939999997 # Actual altitude: 57.7303939999997 # Commanded vehicle depth: 2333.72058 # Seafloor depth: -2391.450974 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 100.141044 meters # Minimum depth: 2393.041795 meters looking forward 200.000000 meters along route # Maximum depth: 2408.118300 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2343.041795 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.517452; longitude = -130.024440; duration = 400; initialDepth = 2333.012373; finalDepth = 2343.041795; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.076505 # Actual altitude: 65.076505 # Commanded vehicle depth: 2343.041795 # Seafloor depth: -2408.118300 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 100.141047 meters # Minimum depth: 2383.012373 meters looking forward 200.000000 meters along route # Maximum depth: 2407.306389 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2333.012373 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.518350; longitude = -130.024335; duration = 400; initialDepth = 2312.676854; finalDepth = 2333.012373; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.076505 # Actual altitude: 65.076505 # Commanded vehicle depth: 2333.012373 # Seafloor depth: -2396.877139 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 100.141050 meters # Minimum depth: 2362.676854 meters looking forward 200.000000 meters along route # Maximum depth: 2395.847480 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2312.676854 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.519249; longitude = -130.024229; duration = 400; initialDepth = 2308.864018; finalDepth = 2312.676854; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.7001650000002 # Actual altitude: 69.7001650000002 # Commanded vehicle depth: 2312.676854 # Seafloor depth: -2382.377019 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 100.141053 meters # Minimum depth: 2358.864018 meters looking forward 200.000000 meters along route # Maximum depth: 2381.837967 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2308.864018 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.520147; longitude = -130.024124; duration = 400; initialDepth = 2308.263167; finalDepth = 2308.864018; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.7001650000002 # Actual altitude: 69.7001650000002 # Commanded vehicle depth: 2308.864018 # Seafloor depth: -2361.631196 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 100.141056 meters # Minimum depth: 2358.263167 meters looking forward 200.000000 meters along route # Maximum depth: 2361.964836 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2308.263167 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.521045; longitude = -130.024019; duration = 400; initialDepth = 2308.263167; finalDepth = 2308.263167; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7671779999996 # Actual altitude: 52.7671779999996 # Commanded vehicle depth: 2308.263167 # Seafloor depth: -2358.420152 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 100.141059 meters # Minimum depth: 2358.263167 meters looking forward 200.000000 meters along route # Maximum depth: 2381.841022 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2308.263167 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.521944; longitude = -130.023914; duration = 400; initialDepth = 2313.125577; finalDepth = 2308.263167; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.6154900000001 # Actual altitude: 54.6154900000001 # Commanded vehicle depth: 2308.263167 # Seafloor depth: -2362.878657 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 100.141063 meters # Minimum depth: 2363.125577 meters looking forward 200.000000 meters along route # Maximum depth: 2381.841022 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2313.125577 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.522842; longitude = -130.023809; duration = 400; initialDepth = 2321.130360; finalDepth = 2313.125577; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.5582550000004 # Actual altitude: 65.5582550000004 # Commanded vehicle depth: 2313.125577 # Seafloor depth: -2378.683832 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 100.141066 meters # Minimum depth: 2371.130360 meters looking forward 200.000000 meters along route # Maximum depth: 2376.409960 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2321.130360 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.523740; longitude = -130.023704; duration = 400; initialDepth = 2324.042206; finalDepth = 2321.130360; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.5582550000004 # Actual altitude: 65.5582550000004 # Commanded vehicle depth: 2321.13036 # Seafloor depth: -2376.029947 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 100.141068 meters # Minimum depth: 2374.042206 meters looking forward 200.000000 meters along route # Maximum depth: 2379.856504 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2324.042206 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.524638; longitude = -130.023599; duration = 400; initialDepth = 2301.483740; finalDepth = 2324.042206; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8995869999999 # Actual altitude: 54.8995869999999 # Commanded vehicle depth: 2324.042206 # Seafloor depth: -2374.984324 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 100.141072 meters # Minimum depth: 2351.483740 meters looking forward 200.000000 meters along route # Maximum depth: 2379.856504 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2301.483740 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.525537; longitude = -130.023494; duration = 400; initialDepth = 2289.806064; finalDepth = 2301.483740; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.7005159999999 # Actual altitude: 77.7005159999999 # Commanded vehicle depth: 2301.48374 # Seafloor depth: -2379.184256 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 100.141075 meters # Minimum depth: 2339.806064 meters looking forward 200.000000 meters along route # Maximum depth: 2374.823651 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2289.806064 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.526435; longitude = -130.023389; duration = 400; initialDepth = 2289.806064; finalDepth = 2289.806064; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.7005159999999 # Actual altitude: 77.7005159999999 # Commanded vehicle depth: 2289.806064 # Seafloor depth: -2351.132835 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 100.141079 meters # Minimum depth: 2339.806064 meters looking forward 200.000000 meters along route # Maximum depth: 2366.667788 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2289.806064 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.527333; longitude = -130.023283; duration = 400; initialDepth = 2297.995761; finalDepth = 2289.806064; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.326771 # Actual altitude: 61.326771 # Commanded vehicle depth: 2289.806064 # Seafloor depth: -2347.829571 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 100.141081 meters # Minimum depth: 2347.995761 meters looking forward 200.000000 meters along route # Maximum depth: 2384.868639 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2297.995761 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.528232; longitude = -130.023178; duration = 400; initialDepth = 2316.974150; finalDepth = 2297.995761; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.0251589999998 # Actual altitude: 70.0251589999998 # Commanded vehicle depth: 2297.995761 # Seafloor depth: -2368.020920 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 100.141084 meters # Minimum depth: 2366.974150 meters looking forward 200.000000 meters along route # Maximum depth: 2389.422273 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2316.974150 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.529130; longitude = -130.023073; duration = 400; initialDepth = 2315.971249; finalDepth = 2316.974150; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.0251589999998 # Actual altitude: 70.0251589999998 # Commanded vehicle depth: 2316.97415 # Seafloor depth: -2385.629042 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 100.141088 meters # Minimum depth: 2365.971249 meters looking forward 200.000000 meters along route # Maximum depth: 2389.422273 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2315.971249 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.530028; longitude = -130.022968; duration = 400; initialDepth = 2310.606745; finalDepth = 2315.971249; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.654892 # Actual altitude: 68.654892 # Commanded vehicle depth: 2315.971249 # Seafloor depth: -2368.138714 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 100.141091 meters # Minimum depth: 2360.606745 meters looking forward 200.000000 meters along route # Maximum depth: 2380.679222 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2310.606745 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.530926; longitude = -130.022863; duration = 400; initialDepth = 2296.053395; finalDepth = 2310.606745; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.6568769999999 # Actual altitude: 69.6568769999999 # Commanded vehicle depth: 2310.606745 # Seafloor depth: -2380.263622 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 100.141094 meters # Minimum depth: 2346.053395 meters looking forward 200.000000 meters along route # Maximum depth: 2380.359139 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2296.053395 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.531825; longitude = -130.022758; duration = 400; initialDepth = 2294.926513; finalDepth = 2296.053395; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.6568769999999 # Actual altitude: 69.6568769999999 # Commanded vehicle depth: 2296.053395 # Seafloor depth: -2358.914276 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 100.141097 meters # Minimum depth: 2344.926513 meters looking forward 200.000000 meters along route # Maximum depth: 2358.187588 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2294.926513 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.532723; longitude = -130.022653; duration = 400; initialDepth = 2290.411360; finalDepth = 2294.926513; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.8608810000001 # Actual altitude: 62.8608810000001 # Commanded vehicle depth: 2294.926513 # Seafloor depth: -2345.578710 # 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 34 # Segment length 100.141100 meters # Minimum depth: 2340.411360 meters looking forward 200.000000 meters along route # Maximum depth: 2348.579721 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2290.411360 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.533621; longitude = -130.022548; duration = 400; initialDepth = 2290.411360; finalDepth = 2290.411360; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.8847769999998 # Actual altitude: 57.8847769999998 # Commanded vehicle depth: 2290.41136 # Seafloor depth: -2348.296137 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 100.141103 meters # Minimum depth: 2340.411360 meters looking forward 200.000000 meters along route # Maximum depth: 2346.496143 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2290.411360 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.534519; longitude = -130.022443; duration = 400; initialDepth = 2291.295976; finalDepth = 2290.411360; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.8847769999998 # Actual altitude: 57.8847769999998 # Commanded vehicle depth: 2290.41136 # Seafloor depth: -2342.152808 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 100.141106 meters # Minimum depth: 2341.295976 meters looking forward 200.000000 meters along route # Maximum depth: 2344.954253 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2291.295976 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.535418; longitude = -130.022337; duration = 400; initialDepth = 2286.578233; finalDepth = 2291.295976; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1314860000002 # Actual altitude: 52.1314860000002 # Commanded vehicle depth: 2291.295976 # Seafloor depth: -2343.427462 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 100.141110 meters # Minimum depth: 2336.578233 meters looking forward 200.000000 meters along route # Maximum depth: 2344.954253 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2286.578233 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.536316; longitude = -130.022232; duration = 400; initialDepth = 2278.505706; finalDepth = 2286.578233; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.078 # Actual altitude: 56.078 # Commanded vehicle depth: 2286.578233 # Seafloor depth: -2342.656233 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 100.141113 meters # Minimum depth: 2328.505706 meters looking forward 200.000000 meters along route # Maximum depth: 2343.060077 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2278.505706 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.537214; longitude = -130.022127; duration = 400; initialDepth = 2277.417254; finalDepth = 2278.505706; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.4368279999999 # Actual altitude: 57.4368279999999 # Commanded vehicle depth: 2278.505706 # Seafloor depth: -2335.942534 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 100.141115 meters # Minimum depth: 2327.417254 meters looking forward 200.000000 meters along route # Maximum depth: 2335.757550 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2277.417254 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.538113; longitude = -130.022022; duration = 400; initialDepth = 2277.417254; finalDepth = 2277.417254; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.4368279999999 # Actual altitude: 57.4368279999999 # Commanded vehicle depth: 2277.417254 # Seafloor depth: -2329.609741 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 100.141119 meters # Minimum depth: 2327.417254 meters looking forward 200.000000 meters along route # Maximum depth: 2336.192769 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2277.417254 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.539011; longitude = -130.021917; duration = 400; initialDepth = 2279.390641; finalDepth = 2277.417254; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.6967890000001 # Actual altitude: 54.6967890000001 # Commanded vehicle depth: 2277.417254 # Seafloor depth: -2332.114043 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 100.141122 meters # Minimum depth: 2329.390641 meters looking forward 200.000000 meters along route # Maximum depth: 2336.192769 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2279.390641 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.539909; longitude = -130.021812; duration = 400; initialDepth = 2275.908659; finalDepth = 2279.390641; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.6967890000001 # Actual altitude: 54.6967890000001 # Commanded vehicle depth: 2279.390641 # Seafloor depth: -2333.107529 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 100.141126 meters # Minimum depth: 2325.908659 meters looking forward 200.000000 meters along route # Maximum depth: 2341.901726 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2275.908659 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.540807; longitude = -130.021707; duration = 400; initialDepth = 2275.908659; finalDepth = 2275.908659; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7168879999999 # Actual altitude: 53.7168879999999 # Commanded vehicle depth: 2275.908659 # Seafloor depth: -2327.459655 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 100.141128 meters # Minimum depth: 2325.908659 meters looking forward 200.000000 meters along route # Maximum depth: 2350.958979 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2275.908659 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.541706; longitude = -130.021602; duration = 400; initialDepth = 2290.470120; finalDepth = 2275.908659; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.2207409999996 # Actual altitude: 66.2207409999996 # Commanded vehicle depth: 2275.908659 # Seafloor depth: -2342.129400 # 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 34 # Segment length 100.141132 meters # Minimum depth: 2340.470120 meters looking forward 200.000000 meters along route # Maximum depth: 2350.958979 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2290.470120 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.542604; longitude = -130.021497; duration = 400; initialDepth = 2288.302298; finalDepth = 2290.470120; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.2207409999996 # Actual altitude: 66.2207409999996 # Commanded vehicle depth: 2290.47012 # Seafloor depth: -2346.607462 # 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 34 # Segment length 100.141134 meters # Minimum depth: 2338.302298 meters looking forward 200.000000 meters along route # Maximum depth: 2347.850119 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2288.302298 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.543502; longitude = -130.021392; duration = 400; initialDepth = 2288.302298; finalDepth = 2288.302298; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.137342 # Actual altitude: 56.137342 # Commanded vehicle depth: 2288.302298 # Seafloor depth: -2340.090276 # 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 34 # Segment length 100.141138 meters # Minimum depth: 2338.302298 meters looking forward 200.000000 meters along route # Maximum depth: 2346.620461 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2288.302298 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.544400; longitude = -130.021286; duration = 400; initialDepth = 2290.078059; finalDepth = 2288.302298; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7879779999998 # Actual altitude: 51.7879779999998 # Commanded vehicle depth: 2288.302298 # Seafloor depth: -2339.360007 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 100.141141 meters # Minimum depth: 2340.078059 meters looking forward 200.000000 meters along route # Maximum depth: 2362.444815 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2290.078059 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.545299; longitude = -130.021181; duration = 400; initialDepth = 2299.945677; finalDepth = 2290.078059; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.1190240000001 # Actual altitude: 58.1190240000001 # Commanded vehicle depth: 2290.078059 # Seafloor depth: -2348.197083 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 100.241195 meters # Minimum depth: 2349.945677 meters looking forward 200.000000 meters along route # Maximum depth: 2368.419675 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2299.945677 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.546197; longitude = -130.021076; duration = 400; initialDepth = 2264.668623; finalDepth = 2299.945677; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.5049819999999 # Actual altitude: 63.5049819999999 # Commanded vehicle depth: 2299.945677 # Seafloor depth: -2363.450659 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 100.041096 meters # Minimum depth: 2314.668623 meters looking forward 200.000000 meters along route # Maximum depth: 2368.419675 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2264.668623 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.547096; longitude = -130.020971; duration = 400; initialDepth = 2248.515166; finalDepth = 2264.668623; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.2344419999999 # Actual altitude: 91.2344419999999 # Commanded vehicle depth: 2264.668623 # Seafloor depth: -2355.903065 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 54.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 100.141151 meters # Minimum depth: 2298.515166 meters looking forward 200.000000 meters along route # Maximum depth: 2353.610803 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2248.515166 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.547994; longitude = -130.020866; duration = 400; initialDepth = 2205.701159; finalDepth = 2248.515166; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.2344419999999 # Actual altitude: 91.2344419999999 # Commanded vehicle depth: 2248.515166 # Seafloor depth: -2305.525648 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 54.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 100.141153 meters # Minimum depth: 2255.701159 meters looking forward 200.000000 meters along route # Maximum depth: 2307.491172 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2205.701159 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.548892; longitude = -130.020761; duration = 400; initialDepth = 2205.701159; finalDepth = 2205.701159; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 92.0696479999997 # Actual altitude: 92.0696479999997 # Commanded vehicle depth: 2205.701159 # Seafloor depth: -2297.770807 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 55.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 100.141157 meters # Minimum depth: 2255.701159 meters looking forward 200.000000 meters along route # Maximum depth: 2293.963271 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2205.701159 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.549790; longitude = -130.020656; duration = 400; initialDepth = 2199.831748; finalDepth = 2205.701159; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 92.0696479999997 # Actual altitude: 92.0696479999997 # Commanded vehicle depth: 2205.701159 # Seafloor depth: -2256.122107 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 55.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 100.141159 meters # Minimum depth: 2249.831748 meters looking forward 200.000000 meters along route # Maximum depth: 2269.062889 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2199.831748 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.550688; longitude = -130.020551; duration = 400; initialDepth = 2192.917870; finalDepth = 2199.831748; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.3118810000001 # Actual altitude: 63.3118810000001 # Commanded vehicle depth: 2199.831748 # Seafloor depth: -2263.143629 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 100.141163 meters # Minimum depth: 2242.917870 meters looking forward 200.000000 meters along route # Maximum depth: 2269.062889 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2192.917870 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.551587; longitude = -130.020446; duration = 400; initialDepth = 2192.917870; finalDepth = 2192.917870; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.3118810000001 # Actual altitude: 63.3118810000001 # Commanded vehicle depth: 2192.91787 # Seafloor depth: -2249.988085 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 100.141166 meters # Minimum depth: 2242.917870 meters looking forward 200.000000 meters along route # Maximum depth: 2286.621123 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2192.917870 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.552485; longitude = -130.020340; duration = 400; initialDepth = 2204.221024; finalDepth = 2192.917870; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.4865719999998 # Actual altitude: 58.4865719999998 # Commanded vehicle depth: 2192.91787 # Seafloor depth: -2251.404442 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 100.141170 meters # Minimum depth: 2254.221024 meters looking forward 200.000000 meters along route # Maximum depth: 2302.818482 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2204.221024 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.553383; longitude = -130.020235; duration = 400; initialDepth = 2238.070330; finalDepth = 2204.221024; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.5985690000002 # Actual altitude: 84.5985690000002 # Commanded vehicle depth: 2204.221024 # Seafloor depth: -2288.819593 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 50.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 100.141172 meters # Minimum depth: 2288.070330 meters looking forward 200.000000 meters along route # Maximum depth: 2305.218527 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2238.070330 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.554281; longitude = -130.020130; duration = 400; initialDepth = 2238.070330; finalDepth = 2238.070330; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.5985690000002 # Actual altitude: 84.5985690000002 # Commanded vehicle depth: 2238.07033 # Seafloor depth: -2297.939348 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 50.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 100.141175 meters # Minimum depth: 2288.070330 meters looking forward 200.000000 meters along route # Maximum depth: 2332.034617 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2238.070330 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.555180; longitude = -130.020025; duration = 400; initialDepth = 2257.992885; finalDepth = 2238.070330; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.55807 # Actual altitude: 68.55807 # Commanded vehicle depth: 2238.07033 # Seafloor depth: -2306.628400 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 100.141179 meters # Minimum depth: 2307.992885 meters looking forward 200.000000 meters along route # Maximum depth: 2336.968650 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2257.992885 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.556078; longitude = -130.019920; duration = 400; initialDepth = 2267.294536; finalDepth = 2257.992885; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.016408 # Actual altitude: 72.016408 # Commanded vehicle depth: 2257.992885 # Seafloor depth: -2330.009293 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 100.141182 meters # Minimum depth: 2317.294536 meters looking forward 200.000000 meters along route # Maximum depth: 2336.968650 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2267.294536 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.556976; longitude = -130.019815; duration = 400; initialDepth = 2247.393449; finalDepth = 2267.294536; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.016408 # Actual altitude: 72.016408 # Commanded vehicle depth: 2267.294536 # Seafloor depth: -2333.966819 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 102.525499 meters # Minimum depth: 2297.393449 meters looking forward 200.000000 meters along route # Maximum depth: 2333.676558 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2247.393449 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.557875; longitude = -130.019710; duration = 410; initialDepth = 2246.356120; finalDepth = 2247.393449; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 68.7448899999999 # Actual altitude: 68.7448899999999 # Commanded vehicle depth: 2247.393449 # Seafloor depth: -2316.138339 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 33 # Segment length 140.404517 meters # Minimum depth: 2296.356120 meters looking forward 200.000000 meters along route # Maximum depth: 2320.449916 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2246.356120 meters set by local depth and desired altitude # Vehicle transit speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.558794; longitude = -130.019602; duration = 561; # abortOnTimeout = True; initialDepth = 2261.988017; finalDepth = 2246.356120; speed = 1.500000; } ####################################################### # Acoustic update 6 - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 68.7448899999999 # Actual altitude: 68.7448899999999 # Commanded vehicle depth: 2246.35612 # Seafloor depth: -2296.356120 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 32 # Segment length 174.024549 meters # Minimum depth: 2311.988017 meters looking forward 200.000000 meters along route # Maximum depth: 2325.413463 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2261.988017 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.558858; longitude = -130.017806; duration = 696; # abortOnTimeout = True; initialDepth = 2261.988017; finalDepth = 2261.988017; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.5888059999997 # Actual altitude: 58.5888059999997 # Commanded vehicle depth: 2261.988017 # Seafloor depth: -2320.576823 # 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 32 # Segment length 100.123709 meters # Minimum depth: 2311.988017 meters looking forward 200.000000 meters along route # Maximum depth: 2338.490027 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2261.988017 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.557297; longitude = -130.017984; duration = 400; initialDepth = 2276.652758; finalDepth = 2261.988017; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.5257079999997 # Actual altitude: 62.5257079999997 # Commanded vehicle depth: 2261.988017 # Seafloor depth: -2324.513725 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.123704 meters # Minimum depth: 2326.652758 meters looking forward 200.000000 meters along route # Maximum depth: 2370.614914 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2276.652758 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.556399; longitude = -130.018086; duration = 400; initialDepth = 2274.073660; finalDepth = 2276.652758; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.5257079999997 # Actual altitude: 62.5257079999997 # Commanded vehicle depth: 2276.652758 # Seafloor depth: -2338.828754 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.123701 meters # Minimum depth: 2324.073660 meters looking forward 200.000000 meters along route # Maximum depth: 2372.950019 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2274.073660 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.555501; longitude = -130.018188; duration = 400; initialDepth = 2229.538921; finalDepth = 2274.073660; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 96.6436640000002 # Actual altitude: 96.6436640000002 # Commanded vehicle depth: 2274.07366 # Seafloor depth: -2370.717324 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 57.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.123697 meters # Minimum depth: 2279.538921 meters looking forward 200.000000 meters along route # Maximum depth: 2372.950019 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2229.538921 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.554602; longitude = -130.018291; duration = 400; initialDepth = 2174.177536; finalDepth = 2229.538921; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 100.911604 # Actual altitude: 100 # Commanded vehicle depth: 2229.538921 # Seafloor depth: -2330.450525 # 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 32 # Segment length 100.123693 meters # Minimum depth: 2224.177536 meters looking forward 200.000000 meters along route # Maximum depth: 2330.026801 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2174.177536 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.553704; longitude = -130.018393; duration = 400; initialDepth = 2173.464530; finalDepth = 2174.177536; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 101.18075 # Actual altitude: 100 # Commanded vehicle depth: 2174.177536 # Seafloor depth: -2275.358286 # 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 32 # Segment length 100.123690 meters # Minimum depth: 2223.464530 meters looking forward 200.000000 meters along route # Maximum depth: 2267.729863 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2173.464530 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.552806; longitude = -130.018495; duration = 400; initialDepth = 2173.949083; finalDepth = 2173.464530; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 101.18075 # Actual altitude: 100 # Commanded vehicle depth: 2173.46453 # Seafloor depth: -2223.464530 # 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 32 # Segment length 100.123685 meters # Minimum depth: 2223.949083 meters looking forward 200.000000 meters along route # Maximum depth: 2281.857598 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2173.949083 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.551907; longitude = -130.018598; duration = 400; initialDepth = 2205.994963; finalDepth = 2173.949083; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.4640250000002 # Actual altitude: 79.4640250000002 # Commanded vehicle depth: 2173.949083 # Seafloor depth: -2253.413108 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 47.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.123682 meters # Minimum depth: 2255.994963 meters looking forward 200.000000 meters along route # Maximum depth: 2293.483727 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2205.994963 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.551009; longitude = -130.018700; duration = 400; initialDepth = 2233.601108; finalDepth = 2205.994963; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.4640250000002 # Actual altitude: 79.4640250000002 # Commanded vehicle depth: 2205.994963 # Seafloor depth: -2282.827097 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 47.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.123679 meters # Minimum depth: 2283.601108 meters looking forward 200.000000 meters along route # Maximum depth: 2308.553761 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2233.601108 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.550111; longitude = -130.018802; duration = 400; initialDepth = 2244.808954; finalDepth = 2233.601108; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.8321339999998 # Actual altitude: 76.8321339999998 # Commanded vehicle depth: 2233.601108 # Seafloor depth: -2294.829458 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.123674 meters # Minimum depth: 2294.808954 meters looking forward 200.000000 meters along route # Maximum depth: 2332.597125 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2244.808954 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.549213; longitude = -130.018905; duration = 400; initialDepth = 2254.296759; finalDepth = 2244.808954; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.231573 # Actual altitude: 61.231573 # Commanded vehicle depth: 2244.808954 # Seafloor depth: -2306.040527 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.123671 meters # Minimum depth: 2304.296759 meters looking forward 200.000000 meters along route # Maximum depth: 2347.337750 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2254.296759 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.548314; longitude = -130.019007; duration = 400; initialDepth = 2285.728608; finalDepth = 2254.296759; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.0183580000003 # Actual altitude: 80.0183580000003 # Commanded vehicle depth: 2254.296759 # Seafloor depth: -2334.315117 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 48.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.123667 meters # Minimum depth: 2335.728608 meters looking forward 200.000000 meters along route # Maximum depth: 2359.388985 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2285.728608 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.547416; longitude = -130.019109; duration = 400; initialDepth = 2269.074742; finalDepth = 2285.728608; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.0183580000003 # Actual altitude: 80.0183580000003 # Commanded vehicle depth: 2285.728608 # Seafloor depth: -2348.777702 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 48.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.123663 meters # Minimum depth: 2319.074742 meters looking forward 200.000000 meters along route # Maximum depth: 2359.388985 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2269.074742 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.546518; longitude = -130.019212; duration = 400; initialDepth = 2265.517026; finalDepth = 2269.074742; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.7365770000001 # Actual altitude: 82.7365770000001 # Commanded vehicle depth: 2269.074742 # Seafloor depth: -2351.811319 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 49.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.123660 meters # Minimum depth: 2315.517026 meters looking forward 200.000000 meters along route # Maximum depth: 2352.120811 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2265.517026 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.545620; longitude = -130.019314; duration = 400; initialDepth = 2265.517026; finalDepth = 2265.517026; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.7365770000001 # Actual altitude: 82.7365770000001 # Commanded vehicle depth: 2265.517026 # Seafloor depth: -2317.383545 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 49.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.123656 meters # Minimum depth: 2315.517026 meters looking forward 200.000000 meters along route # Maximum depth: 2323.575755 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2265.517026 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.544721; longitude = -130.019416; duration = 400; initialDepth = 2270.611620; finalDepth = 2265.517026; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.1901189999999 # Actual altitude: 55.1901189999999 # Commanded vehicle depth: 2265.517026 # Seafloor depth: -2320.707145 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.123652 meters # Minimum depth: 2320.611620 meters looking forward 200.000000 meters along route # Maximum depth: 2346.566870 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2270.611620 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.543823; longitude = -130.019519; duration = 400; initialDepth = 2274.313497; finalDepth = 2270.611620; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.1901189999999 # Actual altitude: 55.1901189999999 # Commanded vehicle depth: 2270.61162 # Seafloor depth: -2324.133671 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.123648 meters # Minimum depth: 2324.313497 meters looking forward 200.000000 meters along route # Maximum depth: 2350.262385 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2274.313497 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.542925; longitude = -130.019621; duration = 400; initialDepth = 2290.944077; finalDepth = 2274.313497; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.9488879999999 # Actual altitude: 75.9488879999999 # Commanded vehicle depth: 2274.313497 # Seafloor depth: -2350.262385 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.123645 meters # Minimum depth: 2340.944077 meters looking forward 200.000000 meters along route # Maximum depth: 2364.231873 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2290.944077 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.542026; longitude = -130.019723; duration = 400; initialDepth = 2280.175575; finalDepth = 2290.944077; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.9488879999999 # Actual altitude: 75.9488879999999 # Commanded vehicle depth: 2290.944077 # Seafloor depth: -2340.944077 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.123641 meters # Minimum depth: 2330.175575 meters looking forward 200.000000 meters along route # Maximum depth: 2364.231873 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2280.175575 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.541128; longitude = -130.019826; duration = 400; initialDepth = 2275.525596; finalDepth = 2280.175575; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.66561 # Actual altitude: 77.66561 # Commanded vehicle depth: 2280.175575 # Seafloor depth: -2357.841185 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.123637 meters # Minimum depth: 2325.525596 meters looking forward 200.000000 meters along route # Maximum depth: 2356.039586 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2275.525596 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.540230; longitude = -130.019928; duration = 400; initialDepth = 2275.525596; finalDepth = 2275.525596; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.66561 # Actual altitude: 77.66561 # Commanded vehicle depth: 2275.525596 # Seafloor depth: -2329.169603 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.123633 meters # Minimum depth: 2325.525596 meters looking forward 200.000000 meters along route # Maximum depth: 2328.174347 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2275.525596 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.539332; longitude = -130.020030; duration = 400; initialDepth = 2275.606954; finalDepth = 2275.525596; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6440069999999 # Actual altitude: 53.6440069999999 # Commanded vehicle depth: 2275.525596 # Seafloor depth: -2326.733240 # 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 32 # Segment length 100.123630 meters # Minimum depth: 2325.606954 meters looking forward 200.000000 meters along route # Maximum depth: 2338.942875 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2275.606954 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.538433; longitude = -130.020133; duration = 400; initialDepth = 2276.944158; finalDepth = 2275.606954; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.226467 # Actual altitude: 51.226467 # Commanded vehicle depth: 2275.606954 # Seafloor depth: -2326.833421 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.123626 meters # Minimum depth: 2326.944158 meters looking forward 200.000000 meters along route # Maximum depth: 2341.158718 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2276.944158 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.537535; longitude = -130.020235; duration = 400; initialDepth = 2278.185324; finalDepth = 2276.944158; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.3942940000002 # Actual altitude: 62.3942940000002 # Commanded vehicle depth: 2276.944158 # Seafloor depth: -2339.338452 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.123622 meters # Minimum depth: 2328.185324 meters looking forward 200.000000 meters along route # Maximum depth: 2341.158718 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2278.185324 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.536637; longitude = -130.020337; duration = 400; initialDepth = 2276.267446; finalDepth = 2278.185324; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.3942940000002 # Actual altitude: 62.3942940000002 # Commanded vehicle depth: 2278.185324 # Seafloor depth: -2338.923792 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.123618 meters # Minimum depth: 2326.267446 meters looking forward 200.000000 meters along route # Maximum depth: 2339.689433 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2276.267446 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.535739; longitude = -130.020440; duration = 400; initialDepth = 2276.080524; finalDepth = 2276.267446; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.738468 # Actual altitude: 60.738468 # Commanded vehicle depth: 2276.267446 # Seafloor depth: -2327.673366 # 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 32 # Segment length 100.123615 meters # Minimum depth: 2326.080524 meters looking forward 200.000000 meters along route # Maximum depth: 2328.924311 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2276.080524 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.534840; longitude = -130.020542; duration = 400; initialDepth = 2276.080524; finalDepth = 2276.080524; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4059200000002 # Actual altitude: 51.4059200000002 # Commanded vehicle depth: 2276.080524 # Seafloor depth: -2326.255751 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.123611 meters # Minimum depth: 2326.080524 meters looking forward 200.000000 meters along route # Maximum depth: 2329.545136 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2276.080524 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.533942; longitude = -130.020644; duration = 400; initialDepth = 2276.936749; finalDepth = 2276.080524; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4203459999999 # Actual altitude: 51.4203459999999 # Commanded vehicle depth: 2276.080524 # Seafloor depth: -2327.500870 # 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 32 # Segment length 100.123607 meters # Minimum depth: 2326.936749 meters looking forward 200.000000 meters along route # Maximum depth: 2341.481340 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2276.936749 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.533044; longitude = -130.020747; duration = 400; initialDepth = 2271.339506; finalDepth = 2276.936749; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3188279999999 # Actual altitude: 52.3188279999999 # Commanded vehicle depth: 2276.936749 # Seafloor depth: -2329.255577 # 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 32 # Segment length 100.123604 meters # Minimum depth: 2321.339506 meters looking forward 200.000000 meters along route # Maximum depth: 2344.137883 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2271.339506 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.532145; longitude = -130.020849; duration = 400; initialDepth = 2271.339506; finalDepth = 2271.339506; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.184432 # Actual altitude: 71.184432 # Commanded vehicle depth: 2271.339506 # Seafloor depth: -2342.523938 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.123599 meters # Minimum depth: 2321.339506 meters looking forward 200.000000 meters along route # Maximum depth: 2353.579122 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2271.339506 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.531247; longitude = -130.020951; duration = 400; initialDepth = 2278.494034; finalDepth = 2271.339506; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.184432 # Actual altitude: 71.184432 # Commanded vehicle depth: 2271.339506 # Seafloor depth: -2328.322627 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.123596 meters # Minimum depth: 2328.494034 meters looking forward 200.000000 meters along route # Maximum depth: 2376.532971 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2278.494034 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.530349; longitude = -130.021054; duration = 400; initialDepth = 2310.768420; finalDepth = 2278.494034; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.7158770000001 # Actual altitude: 78.7158770000001 # Commanded vehicle depth: 2278.494034 # Seafloor depth: -2357.209911 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 47.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.123593 meters # Minimum depth: 2360.768420 meters looking forward 200.000000 meters along route # Maximum depth: 2378.586284 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2310.768420 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.529451; longitude = -130.021156; duration = 400; initialDepth = 2316.557074; finalDepth = 2310.768420; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.7158770000001 # Actual altitude: 78.7158770000001 # Commanded vehicle depth: 2310.76842 # Seafloor depth: -2375.830763 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 47.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.123588 meters # Minimum depth: 2366.557074 meters looking forward 200.000000 meters along route # Maximum depth: 2378.586284 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2316.557074 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.528552; longitude = -130.021259; duration = 400; initialDepth = 2316.557074; finalDepth = 2316.557074; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.0623430000001 # Actual altitude: 65.0623430000001 # Commanded vehicle depth: 2316.557074 # Seafloor depth: -2371.947590 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.123585 meters # Minimum depth: 2366.557074 meters looking forward 200.000000 meters along route # Maximum depth: 2378.156087 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2316.557074 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.527654; longitude = -130.021361; duration = 400; initialDepth = 2317.009822; finalDepth = 2316.557074; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.5861580000001 # Actual altitude: 56.5861580000001 # Commanded vehicle depth: 2316.557074 # Seafloor depth: -2373.143232 # 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 32 # Segment length 100.123581 meters # Minimum depth: 2367.009822 meters looking forward 200.000000 meters along route # Maximum depth: 2379.462124 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2317.009822 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.526756; longitude = -130.021463; duration = 400; initialDepth = 2318.381487; finalDepth = 2317.009822; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.8921810000002 # Actual altitude: 60.8921810000002 # Commanded vehicle depth: 2317.009822 # Seafloor depth: -2377.902003 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.123577 meters # Minimum depth: 2368.381487 meters looking forward 200.000000 meters along route # Maximum depth: 2379.462124 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2318.381487 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.525857; longitude = -130.021566; duration = 400; initialDepth = 2311.888766; finalDepth = 2318.381487; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.8921810000002 # Actual altitude: 60.8921810000002 # Commanded vehicle depth: 2318.381487 # Seafloor depth: -2377.590223 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.123574 meters # Minimum depth: 2361.888766 meters looking forward 200.000000 meters along route # Maximum depth: 2377.252524 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2311.888766 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.524959; longitude = -130.021668; duration = 400; initialDepth = 2308.986863; finalDepth = 2311.888766; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.208736 # Actual altitude: 59.208736 # Commanded vehicle depth: 2311.888766 # Seafloor depth: -2370.251826 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.123570 meters # Minimum depth: 2358.986863 meters looking forward 200.000000 meters along route # Maximum depth: 2371.455277 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2308.986863 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.524061; longitude = -130.021770; duration = 400; initialDepth = 2297.888075; finalDepth = 2308.986863; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.5643230000001 # Actual altitude: 58.5643230000001 # Commanded vehicle depth: 2308.986863 # Seafloor depth: -2367.551186 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.123566 meters # Minimum depth: 2347.888075 meters looking forward 200.000000 meters along route # Maximum depth: 2371.455277 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2297.888075 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.523163; longitude = -130.021873; duration = 400; initialDepth = 2297.888075; finalDepth = 2297.888075; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.1768930000003 # Actual altitude: 60.1768930000003 # Commanded vehicle depth: 2297.888075 # Seafloor depth: -2358.064968 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.123562 meters # Minimum depth: 2347.888075 meters looking forward 200.000000 meters along route # Maximum depth: 2377.322277 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2297.888075 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.522264; longitude = -130.021975; duration = 400; initialDepth = 2313.962459; finalDepth = 2297.888075; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.125301 # Actual altitude: 65.125301 # Commanded vehicle depth: 2297.888075 # Seafloor depth: -2363.013376 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.123559 meters # Minimum depth: 2363.962459 meters looking forward 200.000000 meters along route # Maximum depth: 2397.386230 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2313.962459 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.521366; longitude = -130.022077; duration = 400; initialDepth = 2324.492516; finalDepth = 2313.962459; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.125301 # Actual altitude: 65.125301 # Commanded vehicle depth: 2313.962459 # Seafloor depth: -2378.973462 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.123555 meters # Minimum depth: 2374.492516 meters looking forward 200.000000 meters along route # Maximum depth: 2407.289674 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2324.492516 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.520468; longitude = -130.022180; duration = 400; initialDepth = 2342.635525; finalDepth = 2324.492516; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.693205 # Actual altitude: 75.693205 # Commanded vehicle depth: 2324.492516 # Seafloor depth: -2400.185721 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.123551 meters # Minimum depth: 2392.635525 meters looking forward 200.000000 meters along route # Maximum depth: 2410.044962 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2342.635525 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.519570; longitude = -130.022282; duration = 400; initialDepth = 2342.635525; finalDepth = 2342.635525; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.693205 # Actual altitude: 75.693205 # Commanded vehicle depth: 2342.635525 # Seafloor depth: -2408.549844 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.123547 meters # Minimum depth: 2392.635525 meters looking forward 200.000000 meters along route # Maximum depth: 2410.044962 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2342.635525 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.518671; longitude = -130.022384; duration = 400; initialDepth = 2338.274487; finalDepth = 2342.635525; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.914319 # Actual altitude: 65.914319 # Commanded vehicle depth: 2342.635525 # Seafloor depth: -2394.869120 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.123544 meters # Minimum depth: 2388.274487 meters looking forward 200.000000 meters along route # Maximum depth: 2404.174079 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2338.274487 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.517773; longitude = -130.022487; duration = 400; initialDepth = 2338.274487; finalDepth = 2338.274487; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.971841 # Actual altitude: 57.971841 # Commanded vehicle depth: 2338.274487 # Seafloor depth: -2396.246328 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.123540 meters # Minimum depth: 2388.274487 meters looking forward 200.000000 meters along route # Maximum depth: 2407.174973 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2338.274487 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.516875; longitude = -130.022589; duration = 400; initialDepth = 2346.486775; finalDepth = 2338.274487; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.971841 # Actual altitude: 57.971841 # Commanded vehicle depth: 2338.274487 # Seafloor depth: -2394.805751 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.123536 meters # Minimum depth: 2396.486775 meters looking forward 200.000000 meters along route # Maximum depth: 2410.504987 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2346.486775 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.515976; longitude = -130.022691; duration = 400; initialDepth = 2346.678301; finalDepth = 2346.486775; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.9042939999999 # Actual altitude: 61.9042939999999 # Commanded vehicle depth: 2346.486775 # Seafloor depth: -2408.391069 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.114356 meters # Minimum depth: 2396.678301 meters looking forward 200.000000 meters along route # Maximum depth: 2411.779223 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2346.678301 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.515078; longitude = -130.022794; duration = 400; initialDepth = 2346.019747; finalDepth = 2346.678301; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 61.9042939999999 # Actual altitude: 61.9042939999999 # Commanded vehicle depth: 2346.678301 # Seafloor depth: -2408.439429 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 31 # Segment length 149.980925 meters # Minimum depth: 2396.019747 meters looking forward 200.000000 meters along route # Maximum depth: 2411.758899 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2346.019747 meters set by local depth and desired altitude # Vehicle transit speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.514180; longitude = -130.022896; duration = 599; # abortOnTimeout = True; initialDepth = 2331.409029; finalDepth = 2346.019747; speed = 1.500000; } ####################################################### # Acoustic update 6 - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 61.7611280000001 # Actual altitude: 61.7611280000001 # Commanded vehicle depth: 2346.019747 # Seafloor depth: -2397.031738 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 30 # Segment length 90.563431 meters # Minimum depth: 2381.409029 meters looking forward 200.000000 meters along route # Maximum depth: 2411.758899 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2331.409029 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.514073; longitude = -130.020982; duration = 362; # abortOnTimeout = True; initialDepth = 2331.409029; finalDepth = 2331.409029; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.0914590000002 # Actual altitude: 63.0914590000002 # Commanded vehicle depth: 2331.409029 # Seafloor depth: -2394.500488 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 100.098875 meters # Minimum depth: 2381.409029 meters looking forward 200.000000 meters along route # Maximum depth: 2409.518283 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2331.409029 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.514886; longitude = -130.020893; duration = 400; initialDepth = 2340.084322; finalDepth = 2331.409029; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.0914590000002 # Actual altitude: 63.0914590000002 # Commanded vehicle depth: 2331.409029 # Seafloor depth: -2390.582995 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.098881 meters # Minimum depth: 2390.084322 meters looking forward 200.000000 meters along route # Maximum depth: 2411.845673 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2340.084322 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.515784; longitude = -130.020795; duration = 400; initialDepth = 2352.750117; finalDepth = 2340.084322; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.9273699999999 # Actual altitude: 67.9273699999999 # Commanded vehicle depth: 2340.084322 # Seafloor depth: -2408.011692 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.098884 meters # Minimum depth: 2402.750117 meters looking forward 200.000000 meters along route # Maximum depth: 2411.845673 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2352.750117 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.516682; longitude = -130.020696; duration = 400; initialDepth = 2352.594956; finalDepth = 2352.750117; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.9273699999999 # Actual altitude: 67.9273699999999 # Commanded vehicle depth: 2352.750117 # Seafloor depth: -2410.570958 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.098890 meters # Minimum depth: 2402.594956 meters looking forward 200.000000 meters along route # Maximum depth: 2410.877600 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2352.594956 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.517581; longitude = -130.020598; duration = 400; initialDepth = 2348.781964; finalDepth = 2352.594956; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.8208409999997 # Actual altitude: 57.8208409999997 # Commanded vehicle depth: 2352.594956 # Seafloor depth: -2408.880488 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.098894 meters # Minimum depth: 2398.781964 meters looking forward 200.000000 meters along route # Maximum depth: 2409.375521 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2348.781964 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.518479; longitude = -130.020500; duration = 400; initialDepth = 2342.805738; finalDepth = 2348.781964; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.2855319999999 # Actual altitude: 56.2855319999999 # Commanded vehicle depth: 2348.781964 # Seafloor depth: -2401.599449 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.098898 meters # Minimum depth: 2392.805738 meters looking forward 200.000000 meters along route # Maximum depth: 2403.037821 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2342.805738 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.519377; longitude = -130.020401; duration = 400; initialDepth = 2325.042714; finalDepth = 2342.805738; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.6676320000001 # Actual altitude: 55.6676320000001 # Commanded vehicle depth: 2342.805738 # Seafloor depth: -2398.473370 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.098903 meters # Minimum depth: 2375.042714 meters looking forward 200.000000 meters along route # Maximum depth: 2400.069879 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2325.042714 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.520275; longitude = -130.020303; duration = 400; initialDepth = 2325.042714; finalDepth = 2325.042714; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.7075589999999 # Actual altitude: 66.7075589999999 # Commanded vehicle depth: 2325.042714 # Seafloor depth: -2391.750273 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.098908 meters # Minimum depth: 2375.042714 meters looking forward 200.000000 meters along route # Maximum depth: 2390.368605 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2325.042714 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.521174; longitude = -130.020205; duration = 400; initialDepth = 2326.788455; finalDepth = 2325.042714; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.7075589999999 # Actual altitude: 66.7075589999999 # Commanded vehicle depth: 2325.042714 # Seafloor depth: -2376.498718 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.098912 meters # Minimum depth: 2376.788455 meters looking forward 200.000000 meters along route # Maximum depth: 2387.176154 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2326.788455 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.522072; longitude = -130.020107; duration = 400; initialDepth = 2327.833138; finalDepth = 2326.788455; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.1722250000003 # Actual altitude: 58.1722250000003 # Commanded vehicle depth: 2326.788455 # Seafloor depth: -2384.960680 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.098917 meters # Minimum depth: 2377.833138 meters looking forward 200.000000 meters along route # Maximum depth: 2387.176154 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2327.833138 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.522970; longitude = -130.020008; duration = 400; initialDepth = 2322.091490; finalDepth = 2327.833138; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.1722250000003 # Actual altitude: 58.1722250000003 # Commanded vehicle depth: 2327.833138 # Seafloor depth: -2385.793999 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.098921 meters # Minimum depth: 2372.091490 meters looking forward 200.000000 meters along route # Maximum depth: 2384.892381 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2322.091490 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.523868; longitude = -130.019910; duration = 400; initialDepth = 2299.293912; finalDepth = 2322.091490; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.960861 # Actual altitude: 57.960861 # Commanded vehicle depth: 2322.09149 # Seafloor depth: -2377.262282 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.098926 meters # Minimum depth: 2349.293912 meters looking forward 200.000000 meters along route # Maximum depth: 2376.603815 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2299.293912 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.524767; longitude = -130.019812; duration = 400; initialDepth = 2299.293912; finalDepth = 2299.293912; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.6398319999998 # Actual altitude: 72.6398319999998 # Commanded vehicle depth: 2299.293912 # Seafloor depth: -2371.933744 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.098931 meters # Minimum depth: 2349.293912 meters looking forward 200.000000 meters along route # Maximum depth: 2372.148129 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2299.293912 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.525665; longitude = -130.019713; duration = 400; initialDepth = 2300.226445; finalDepth = 2299.293912; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.6398319999998 # Actual altitude: 72.6398319999998 # Commanded vehicle depth: 2299.293912 # Seafloor depth: -2349.514108 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.098935 meters # Minimum depth: 2350.226445 meters looking forward 200.000000 meters along route # Maximum depth: 2370.857235 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2300.226445 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.526563; longitude = -130.019615; duration = 400; initialDepth = 2309.435459; finalDepth = 2300.226445; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.3093250000002 # Actual altitude: 58.3093250000002 # Commanded vehicle depth: 2300.226445 # Seafloor depth: -2358.535770 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.098940 meters # Minimum depth: 2359.435459 meters looking forward 200.000000 meters along route # Maximum depth: 2370.857235 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2309.435459 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.527462; longitude = -130.019517; duration = 400; initialDepth = 2307.470793; finalDepth = 2309.435459; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.2629280000001 # Actual altitude: 61.2629280000001 # Commanded vehicle depth: 2309.435459 # Seafloor depth: -2370.698387 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.098944 meters # Minimum depth: 2357.470793 meters looking forward 200.000000 meters along route # Maximum depth: 2370.365029 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2307.470793 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.528360; longitude = -130.019418; duration = 400; initialDepth = 2307.470793; finalDepth = 2307.470793; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.2629280000001 # Actual altitude: 61.2629280000001 # Commanded vehicle depth: 2307.470793 # Seafloor depth: -2365.128541 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.098949 meters # Minimum depth: 2357.470793 meters looking forward 200.000000 meters along route # Maximum depth: 2371.420467 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2307.470793 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.529258; longitude = -130.019320; duration = 400; initialDepth = 2309.093912; finalDepth = 2307.470793; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.6577480000001 # Actual altitude: 57.6577480000001 # Commanded vehicle depth: 2307.470793 # Seafloor depth: -2358.392694 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.098954 meters # Minimum depth: 2359.093912 meters looking forward 200.000000 meters along route # Maximum depth: 2380.977483 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2309.093912 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.530156; longitude = -130.019222; duration = 400; initialDepth = 2318.747115; finalDepth = 2309.093912; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.5895420000002 # Actual altitude: 63.5895420000002 # Commanded vehicle depth: 2309.093912 # Seafloor depth: -2372.683454 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.098958 meters # Minimum depth: 2368.747115 meters looking forward 200.000000 meters along route # Maximum depth: 2380.977483 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2318.747115 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.531055; longitude = -130.019123; duration = 400; initialDepth = 2288.499965; finalDepth = 2318.747115; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.5895420000002 # Actual altitude: 63.5895420000002 # Commanded vehicle depth: 2318.747115 # Seafloor depth: -2374.447562 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.098962 meters # Minimum depth: 2338.499965 meters looking forward 200.000000 meters along route # Maximum depth: 2378.411620 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2288.499965 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.531953; longitude = -130.019025; duration = 400; initialDepth = 2272.823154; finalDepth = 2288.499965; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.5076789999998 # Actual altitude: 79.5076789999998 # Commanded vehicle depth: 2288.499965 # Seafloor depth: -2368.007644 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 47.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.098968 meters # Minimum depth: 2322.823154 meters looking forward 200.000000 meters along route # Maximum depth: 2367.773332 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2272.823154 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.532851; longitude = -130.018927; duration = 400; initialDepth = 2272.823154; finalDepth = 2272.823154; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.5076789999998 # Actual altitude: 79.5076789999998 # Commanded vehicle depth: 2272.823154 # Seafloor depth: -2336.887162 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 47.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.098972 meters # Minimum depth: 2322.823154 meters looking forward 200.000000 meters along route # Maximum depth: 2334.917701 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2272.823154 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.533749; longitude = -130.018828; duration = 400; initialDepth = 2275.773702; finalDepth = 2272.823154; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.0640079999998 # Actual altitude: 64.0640079999998 # Commanded vehicle depth: 2272.823154 # Seafloor depth: -2324.983786 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.098976 meters # Minimum depth: 2325.773702 meters looking forward 200.000000 meters along route # Maximum depth: 2334.586469 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2275.773702 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.534648; longitude = -130.018730; duration = 400; initialDepth = 2277.784876; finalDepth = 2275.773702; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1606319999996 # Actual altitude: 52.1606319999996 # Commanded vehicle depth: 2275.773702 # Seafloor depth: -2327.491956 # 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 30 # Segment length 100.098981 meters # Minimum depth: 2327.784876 meters looking forward 200.000000 meters along route # Maximum depth: 2338.411545 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2277.784876 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.535546; longitude = -130.018632; duration = 400; initialDepth = 2285.052670; finalDepth = 2277.784876; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.109078 # Actual altitude: 57.109078 # Commanded vehicle depth: 2277.784876 # Seafloor depth: -2334.893954 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.098986 meters # Minimum depth: 2335.052670 meters looking forward 200.000000 meters along route # Maximum depth: 2366.866158 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2285.052670 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.536444; longitude = -130.018533; duration = 400; initialDepth = 2289.862697; finalDepth = 2285.052670; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.109078 # Actual altitude: 57.109078 # Commanded vehicle depth: 2285.05267 # Seafloor depth: -2339.750025 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.098990 meters # Minimum depth: 2339.862697 meters looking forward 200.000000 meters along route # Maximum depth: 2369.848030 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2289.862697 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.537343; longitude = -130.018435; duration = 400; initialDepth = 2292.291685; finalDepth = 2289.862697; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.5323130000002 # Actual altitude: 77.5323130000002 # Commanded vehicle depth: 2289.862697 # Seafloor depth: -2367.395010 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.098995 meters # Minimum depth: 2342.291685 meters looking forward 200.000000 meters along route # Maximum depth: 2369.848030 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2292.291685 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.538241; longitude = -130.018337; duration = 400; initialDepth = 2284.627684; finalDepth = 2292.291685; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.5323130000002 # Actual altitude: 77.5323130000002 # Commanded vehicle depth: 2292.291685 # Seafloor depth: -2347.286499 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.098999 meters # Minimum depth: 2334.627684 meters looking forward 200.000000 meters along route # Maximum depth: 2346.792104 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2284.627684 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.539139; longitude = -130.018239; duration = 400; initialDepth = 2284.627684; finalDepth = 2284.627684; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.8237429999999 # Actual altitude: 56.8237429999999 # Commanded vehicle depth: 2284.627684 # Seafloor depth: -2341.451427 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.099004 meters # Minimum depth: 2334.627684 meters looking forward 200.000000 meters along route # Maximum depth: 2370.540007 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2284.627684 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.540037; longitude = -130.018140; duration = 400; initialDepth = 2300.123656; finalDepth = 2284.627684; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.9890219999997 # Actual altitude: 63.9890219999997 # Commanded vehicle depth: 2284.627684 # Seafloor depth: -2348.616706 # 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 30 # Segment length 100.099009 meters # Minimum depth: 2350.123656 meters looking forward 200.000000 meters along route # Maximum depth: 2380.934976 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2300.123656 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.540936; longitude = -130.018042; duration = 400; initialDepth = 2324.119185; finalDepth = 2300.123656; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.5311189999998 # Actual altitude: 75.5311189999998 # Commanded vehicle depth: 2300.123656 # Seafloor depth: -2375.654775 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.099013 meters # Minimum depth: 2374.119185 meters looking forward 200.000000 meters along route # Maximum depth: 2393.011396 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2324.119185 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.541834; longitude = -130.017944; duration = 400; initialDepth = 2314.788193; finalDepth = 2324.119185; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.5311189999998 # Actual altitude: 75.5311189999998 # Commanded vehicle depth: 2324.119185 # Seafloor depth: -2374.119185 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.099018 meters # Minimum depth: 2364.788193 meters looking forward 200.000000 meters along route # Maximum depth: 2393.011396 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2314.788193 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.542732; longitude = -130.017845; duration = 400; initialDepth = 2304.729989; finalDepth = 2314.788193; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.472526 # Actual altitude: 55.472526 # Commanded vehicle depth: 2314.788193 # Seafloor depth: -2370.260719 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.099022 meters # Minimum depth: 2354.729989 meters looking forward 200.000000 meters along route # Maximum depth: 2382.923460 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2304.729989 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.543631; longitude = -130.017747; duration = 400; initialDepth = 2292.064741; finalDepth = 2304.729989; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.1580880000001 # Actual altitude: 71.1580880000001 # Commanded vehicle depth: 2304.729989 # Seafloor depth: -2375.888077 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.099027 meters # Minimum depth: 2342.064741 meters looking forward 200.000000 meters along route # Maximum depth: 2373.915582 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2292.064741 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.544529; longitude = -130.017649; duration = 400; initialDepth = 2288.753652; finalDepth = 2292.064741; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.1580880000001 # Actual altitude: 71.1580880000001 # Commanded vehicle depth: 2292.064741 # Seafloor depth: -2358.367453 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.099032 meters # Minimum depth: 2338.753652 meters looking forward 200.000000 meters along route # Maximum depth: 2349.564424 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2288.753652 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.545427; longitude = -130.017550; duration = 400; initialDepth = 2273.519048; finalDepth = 2288.753652; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.3027119999997 # Actual altitude: 66.3027119999997 # Commanded vehicle depth: 2288.753652 # Seafloor depth: -2341.341876 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.099036 meters # Minimum depth: 2323.519048 meters looking forward 200.000000 meters along route # Maximum depth: 2341.275224 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2273.519048 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.546325; longitude = -130.017452; duration = 400; initialDepth = 2262.393233; finalDepth = 2273.519048; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.5594299999998 # Actual altitude: 64.5594299999998 # Commanded vehicle depth: 2273.519048 # Seafloor depth: -2338.078478 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.099041 meters # Minimum depth: 2312.393233 meters looking forward 200.000000 meters along route # Maximum depth: 2337.278566 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2262.393233 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.547224; longitude = -130.017354; duration = 400; initialDepth = 2249.334081; finalDepth = 2262.393233; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.5594299999998 # Actual altitude: 64.5594299999998 # Commanded vehicle depth: 2262.393233 # Seafloor depth: -2322.495809 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.099045 meters # Minimum depth: 2299.334081 meters looking forward 200.000000 meters along route # Maximum depth: 2326.446547 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2249.334081 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.548122; longitude = -130.017255; duration = 400; initialDepth = 2238.207507; finalDepth = 2249.334081; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.112466 # Actual altitude: 77.112466 # Commanded vehicle depth: 2249.334081 # Seafloor depth: -2326.446547 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.099050 meters # Minimum depth: 2288.207507 meters looking forward 200.000000 meters along route # Maximum depth: 2323.770150 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2238.207507 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.549020; longitude = -130.017157; duration = 400; initialDepth = 2238.207507; finalDepth = 2238.207507; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.112466 # Actual altitude: 77.112466 # Commanded vehicle depth: 2238.207507 # Seafloor depth: -2298.860193 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.099055 meters # Minimum depth: 2288.207507 meters looking forward 200.000000 meters along route # Maximum depth: 2297.276757 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2238.207507 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.549918; longitude = -130.017059; duration = 400; initialDepth = 2226.382022; finalDepth = 2238.207507; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.6526859999999 # Actual altitude: 60.6526859999999 # Commanded vehicle depth: 2238.207507 # Seafloor depth: -2288.261849 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.099059 meters # Minimum depth: 2276.382022 meters looking forward 200.000000 meters along route # Maximum depth: 2298.840495 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2226.382022 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.550817; longitude = -130.016960; duration = 400; initialDepth = 2183.545697; finalDepth = 2226.382022; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.0451820000003 # Actual altitude: 70.0451820000003 # Commanded vehicle depth: 2226.382022 # Seafloor depth: -2296.427204 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.099064 meters # Minimum depth: 2233.545697 meters looking forward 200.000000 meters along route # Maximum depth: 2298.840495 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2183.545697 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.551715; longitude = -130.016862; duration = 400; initialDepth = 2182.970687; finalDepth = 2183.545697; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.3910820000001 # Actual altitude: 91.3910820000001 # Commanded vehicle depth: 2183.545697 # Seafloor depth: -2274.936779 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 54.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.099068 meters # Minimum depth: 2232.970687 meters looking forward 200.000000 meters along route # Maximum depth: 2303.755628 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2182.970687 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.552613; longitude = -130.016764; duration = 400; initialDepth = 2182.970687; finalDepth = 2182.970687; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.3910820000001 # Actual altitude: 91.3910820000001 # Commanded vehicle depth: 2182.970687 # Seafloor depth: -2235.909064 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 54.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.099073 meters # Minimum depth: 2232.970687 meters looking forward 200.000000 meters along route # Maximum depth: 2353.316288 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2182.970687 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.553512; longitude = -130.016665; duration = 400; initialDepth = 2219.403769; finalDepth = 2182.970687; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 125.661308 # Actual altitude: 100 # Commanded vehicle depth: 2182.970687 # Seafloor depth: -2308.631995 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.099077 meters # Minimum depth: 2313.777481 meters looking forward 200.000000 meters along route # Maximum depth: 2363.064800 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2219.403769 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.554410; longitude = -130.016567; duration = 400; initialDepth = 2255.836853; finalDepth = 2219.403769; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 137.058735625352 # Actual altitude: 100 # Commanded vehicle depth: 2219.40376937465 # Seafloor depth: -2356.462505 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.099082 meters # Minimum depth: 2354.312651 meters looking forward 200.000000 meters along route # Maximum depth: 2363.183639 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2255.836853 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.555308; longitude = -130.016469; duration = 400; initialDepth = 2292.269939; finalDepth = 2255.836853; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 137.058735625352 # Actual altitude: 100 # Commanded vehicle depth: 2255.83685320518 # Seafloor depth: -2363.183639 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.099087 meters # Minimum depth: 2353.767539 meters looking forward 200.000000 meters along route # Maximum depth: 2370.022751 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2292.269939 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.556206; longitude = -130.016371; duration = 400; initialDepth = 2284.699809; finalDepth = 2292.269939; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 107.346785794823 # Actual altitude: 100 # Commanded vehicle depth: 2292.26993885556 # Seafloor depth: -2353.971116 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.099091 meters # Minimum depth: 2334.699809 meters looking forward 200.000000 meters along route # Maximum depth: 2370.022751 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2284.699809 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.557105; longitude = -130.016272; duration = 400; initialDepth = 2257.718838; finalDepth = 2284.699809; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.509552 # Actual altitude: 75.509552 # Commanded vehicle depth: 2284.699809 # Seafloor depth: -2360.209361 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 102.482408 meters # Minimum depth: 2307.718838 meters looking forward 200.000000 meters along route # Maximum depth: 2360.545186 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2257.718838 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.558003; longitude = -130.016174; duration = 409; initialDepth = 2257.718838; finalDepth = 2257.718838; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75.6713960000002 # Actual altitude: 75.6713960000002 # Commanded vehicle depth: 2257.718838 # Seafloor depth: -2333.390234 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 29 # Segment length 151.926918 meters # Minimum depth: 2307.718838 meters looking forward 200.000000 meters along route # Maximum depth: 2362.261697 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2257.718838 meters set by local depth and desired altitude # Vehicle transit speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.558923; longitude = -130.016073; duration = 607; # abortOnTimeout = True; initialDepth = 2274.990760; finalDepth = 2257.718838; speed = 1.500000; } ####################################################### # Acoustic update 6 - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 75.6713960000002 # Actual altitude: 75.6713960000002 # Commanded vehicle depth: 2257.718838 # Seafloor depth: -2309.577148 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 104.867847 meters # Minimum depth: 2324.990760 meters looking forward 200.000000 meters along route # Maximum depth: 2362.261697 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2274.990760 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.558944; longitude = -130.014127; duration = 419; # abortOnTimeout = True; initialDepth = 2284.188575; finalDepth = 2274.990760; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.6921829999997 # Actual altitude: 83.6921829999997 # Commanded vehicle depth: 2274.99076 # Seafloor depth: -2358.682943 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 50.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 100.101122 meters # Minimum depth: 2334.188575 meters looking forward 200.000000 meters along route # Maximum depth: 2356.395315 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2284.188575 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.558003; longitude = -130.014230; duration = 400; initialDepth = 2276.132517; finalDepth = 2284.188575; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.6921829999997 # Actual altitude: 83.6921829999997 # Commanded vehicle depth: 2284.188575 # Seafloor depth: -2341.005926 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 50.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.101118 meters # Minimum depth: 2326.132517 meters looking forward 200.000000 meters along route # Maximum depth: 2340.455863 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2276.132517 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.557105; longitude = -130.014329; duration = 400; initialDepth = 2273.083460; finalDepth = 2276.132517; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.4992099999999 # Actual altitude: 58.4992099999999 # Commanded vehicle depth: 2276.132517 # Seafloor depth: -2334.631727 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.101113 meters # Minimum depth: 2323.083460 meters looking forward 200.000000 meters along route # Maximum depth: 2336.998752 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2273.083460 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.556206; longitude = -130.014428; duration = 400; initialDepth = 2273.083460; finalDepth = 2273.083460; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.4992099999999 # Actual altitude: 58.4992099999999 # Commanded vehicle depth: 2273.08346 # Seafloor depth: -2325.875286 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.101108 meters # Minimum depth: 2323.083460 meters looking forward 200.000000 meters along route # Maximum depth: 2342.211192 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2273.083460 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.555308; longitude = -130.014526; duration = 400; initialDepth = 2276.265641; finalDepth = 2273.083460; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.287182 # Actual altitude: 61.287182 # Commanded vehicle depth: 2273.08346 # Seafloor depth: -2334.370642 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.101104 meters # Minimum depth: 2326.265641 meters looking forward 200.000000 meters along route # Maximum depth: 2342.211192 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2276.265641 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.554410; longitude = -130.014625; duration = 400; initialDepth = 2273.641841; finalDepth = 2276.265641; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.243939 # Actual altitude: 63.243939 # Commanded vehicle depth: 2276.265641 # Seafloor depth: -2339.509580 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.95; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.101100 meters # Minimum depth: 2323.641841 meters looking forward 200.000000 meters along route # Maximum depth: 2338.931304 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2273.641841 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.553512; longitude = -130.014724; duration = 400; initialDepth = 2253.545464; finalDepth = 2273.641841; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.243939 # Actual altitude: 63.243939 # Commanded vehicle depth: 2273.641841 # Seafloor depth: -2325.690554 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.95; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.101095 meters # Minimum depth: 2303.545464 meters looking forward 200.000000 meters along route # Maximum depth: 2331.707719 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2253.545464 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.552613; longitude = -130.014822; duration = 400; initialDepth = 2247.670499; finalDepth = 2253.545464; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.0667160000003 # Actual altitude: 75.0667160000003 # Commanded vehicle depth: 2253.545464 # Seafloor depth: -2328.612180 # 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 28 # Segment length 100.101090 meters # Minimum depth: 2297.670499 meters looking forward 200.000000 meters along route # Maximum depth: 2329.199331 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2247.670499 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.551715; longitude = -130.014921; duration = 400; initialDepth = 2245.364352; finalDepth = 2247.670499; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.0667160000003 # Actual altitude: 75.0667160000003 # Commanded vehicle depth: 2247.670499 # Seafloor depth: -2297.670499 # 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 28 # Segment length 100.101086 meters # Minimum depth: 2295.364352 meters looking forward 200.000000 meters along route # Maximum depth: 2319.128254 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2245.364352 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.550817; longitude = -130.015020; duration = 400; initialDepth = 2245.364352; finalDepth = 2245.364352; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.3524379999999 # Actual altitude: 54.3524379999999 # Commanded vehicle depth: 2245.364352 # Seafloor depth: -2299.716790 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.101081 meters # Minimum depth: 2295.364352 meters looking forward 200.000000 meters along route # Maximum depth: 2319.128254 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2245.364352 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.549918; longitude = -130.015118; duration = 400; initialDepth = 2260.123457; finalDepth = 2245.364352; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.4959840000001 # Actual altitude: 64.4959840000001 # Commanded vehicle depth: 2245.364352 # Seafloor depth: -2309.860336 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.101077 meters # Minimum depth: 2310.123457 meters looking forward 200.000000 meters along route # Maximum depth: 2350.963468 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2260.123457 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.549020; longitude = -130.015217; duration = 400; initialDepth = 2280.945047; finalDepth = 2260.123457; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.4959840000001 # Actual altitude: 64.4959840000001 # Commanded vehicle depth: 2260.123457 # Seafloor depth: -2322.915108 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.101072 meters # Minimum depth: 2330.945047 meters looking forward 200.000000 meters along route # Maximum depth: 2351.944905 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2280.945047 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.548122; longitude = -130.015316; duration = 400; initialDepth = 2292.304858; finalDepth = 2280.945047; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.8401789999998 # Actual altitude: 70.8401789999998 # Commanded vehicle depth: 2280.945047 # Seafloor depth: -2351.785226 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.101068 meters # Minimum depth: 2342.304858 meters looking forward 200.000000 meters along route # Maximum depth: 2355.603484 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2292.304858 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.547224; longitude = -130.015414; duration = 400; initialDepth = 2292.304858; finalDepth = 2292.304858; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.8401789999998 # Actual altitude: 70.8401789999998 # Commanded vehicle depth: 2292.304858 # Seafloor depth: -2344.110720 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.101064 meters # Minimum depth: 2342.304858 meters looking forward 200.000000 meters along route # Maximum depth: 2355.603484 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2292.304858 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.546325; longitude = -130.015513; duration = 400; initialDepth = 2292.471891; finalDepth = 2292.304858; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.4661110000002 # Actual altitude: 56.4661110000002 # Commanded vehicle depth: 2292.304858 # Seafloor depth: -2348.770969 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.101058 meters # Minimum depth: 2342.471891 meters looking forward 200.000000 meters along route # Maximum depth: 2349.120337 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2292.471891 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.545427; longitude = -130.015612; duration = 400; initialDepth = 2293.532725; finalDepth = 2292.471891; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.4661110000002 # Actual altitude: 56.4661110000002 # Commanded vehicle depth: 2292.471891 # Seafloor depth: -2346.740278 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.101054 meters # Minimum depth: 2343.532725 meters looking forward 200.000000 meters along route # Maximum depth: 2361.856813 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2293.532725 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.544529; longitude = -130.015710; duration = 400; initialDepth = 2293.532725; finalDepth = 2293.532725; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.2683870000001 # Actual altitude: 54.2683870000001 # Commanded vehicle depth: 2293.532725 # Seafloor depth: -2346.811375 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.101050 meters # Minimum depth: 2343.532725 meters looking forward 200.000000 meters along route # Maximum depth: 2368.499942 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2293.532725 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.543631; longitude = -130.015809; duration = 400; initialDepth = 2312.657386; finalDepth = 2293.532725; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.6320959999998 # Actual altitude: 68.6320959999998 # Commanded vehicle depth: 2293.532725 # Seafloor depth: -2362.164821 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.101045 meters # Minimum depth: 2362.657386 meters looking forward 200.000000 meters along route # Maximum depth: 2372.358219 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2312.657386 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.542732; longitude = -130.015908; duration = 400; initialDepth = 2314.361853; finalDepth = 2312.657386; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.6320959999998 # Actual altitude: 68.6320959999998 # Commanded vehicle depth: 2312.657386 # Seafloor depth: -2370.056596 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.101041 meters # Minimum depth: 2364.361853 meters looking forward 200.000000 meters along route # Maximum depth: 2387.303338 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2314.361853 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.541834; longitude = -130.016006; duration = 400; initialDepth = 2322.844170; finalDepth = 2314.361853; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.39921 # Actual altitude: 57.39921 # Commanded vehicle depth: 2314.361853 # Seafloor depth: -2371.645713 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.101036 meters # Minimum depth: 2372.844170 meters looking forward 200.000000 meters along route # Maximum depth: 2395.888308 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2322.844170 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.540936; longitude = -130.016105; duration = 400; initialDepth = 2337.897417; finalDepth = 2322.844170; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.9932450000001 # Actual altitude: 66.9932450000001 # Commanded vehicle depth: 2322.84417 # Seafloor depth: -2389.837415 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.101032 meters # Minimum depth: 2387.897417 meters looking forward 200.000000 meters along route # Maximum depth: 2395.888308 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2337.897417 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.540037; longitude = -130.016204; duration = 400; initialDepth = 2312.164933; finalDepth = 2337.897417; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.9932450000001 # Actual altitude: 66.9932450000001 # Commanded vehicle depth: 2337.897417 # Seafloor depth: -2393.510434 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.101027 meters # Minimum depth: 2362.164933 meters looking forward 200.000000 meters along route # Maximum depth: 2393.595196 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2312.164933 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.539139; longitude = -130.016302; duration = 400; initialDepth = 2298.602580; finalDepth = 2312.164933; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.509348 # Actual altitude: 75.509348 # Commanded vehicle depth: 2312.164933 # Seafloor depth: -2387.674281 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.101022 meters # Minimum depth: 2348.602580 meters looking forward 200.000000 meters along route # Maximum depth: 2387.880710 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2298.602580 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.538241; longitude = -130.016401; duration = 400; initialDepth = 2298.602580; finalDepth = 2298.602580; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.509348 # Actual altitude: 75.509348 # Commanded vehicle depth: 2298.60258 # Seafloor depth: -2360.158234 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.101018 meters # Minimum depth: 2348.602580 meters looking forward 200.000000 meters along route # Maximum depth: 2360.157531 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2298.602580 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.537343; longitude = -130.016499; duration = 400; initialDepth = 2300.755541; finalDepth = 2298.602580; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.5556539999998 # Actual altitude: 61.5556539999998 # Commanded vehicle depth: 2298.60258 # Seafloor depth: -2355.145429 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.101014 meters # Minimum depth: 2350.755541 meters looking forward 200.000000 meters along route # Maximum depth: 2362.054010 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2300.755541 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.536444; longitude = -130.016598; duration = 400; initialDepth = 2286.282527; finalDepth = 2300.755541; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.1374129999999 # Actual altitude: 60.1374129999999 # Commanded vehicle depth: 2300.755541 # Seafloor depth: -2360.892954 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.101009 meters # Minimum depth: 2336.282527 meters looking forward 200.000000 meters along route # Maximum depth: 2362.054010 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2286.282527 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.535546; longitude = -130.016697; duration = 400; initialDepth = 2279.746225; finalDepth = 2286.282527; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.2700730000001 # Actual altitude: 63.2700730000001 # Commanded vehicle depth: 2286.282527 # Seafloor depth: -2349.552600 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.101004 meters # Minimum depth: 2329.746225 meters looking forward 200.000000 meters along route # Maximum depth: 2349.106392 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2279.746225 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.534648; longitude = -130.016795; duration = 400; initialDepth = 2277.776408; finalDepth = 2279.746225; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.2700730000001 # Actual altitude: 63.2700730000001 # Commanded vehicle depth: 2279.746225 # Seafloor depth: -2335.818059 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.201804 meters # Minimum depth: 2327.776408 meters looking forward 200.000000 meters along route # Maximum depth: 2335.531365 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2277.776408 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.533749; longitude = -130.016894; duration = 400; initialDepth = 2277.776408; finalDepth = 2277.776408; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.0718340000003 # Actual altitude: 56.0718340000003 # Commanded vehicle depth: 2277.776408 # Seafloor depth: -2329.316213 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.000191 meters # Minimum depth: 2327.776408 meters looking forward 200.000000 meters along route # Maximum depth: 2348.098146 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2277.776408 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.532850; longitude = -130.016993; duration = 400; initialDepth = 2284.170730; finalDepth = 2277.776408; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.2051369999999 # Actual altitude: 56.2051369999999 # Commanded vehicle depth: 2277.776408 # Seafloor depth: -2333.981545 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.100991 meters # Minimum depth: 2334.170730 meters looking forward 200.000000 meters along route # Maximum depth: 2351.440549 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2284.170730 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.531953; longitude = -130.017091; duration = 400; initialDepth = 2287.269040; finalDepth = 2284.170730; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.633699 # Actual altitude: 64.633699 # Commanded vehicle depth: 2284.17073 # Seafloor depth: -2348.804429 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.100987 meters # Minimum depth: 2337.269040 meters looking forward 200.000000 meters along route # Maximum depth: 2351.440549 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2287.269040 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.531055; longitude = -130.017190; duration = 400; initialDepth = 2284.062515; finalDepth = 2287.269040; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.633699 # Actual altitude: 64.633699 # Commanded vehicle depth: 2287.26904 # Seafloor depth: -2350.457482 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.100981 meters # Minimum depth: 2334.062515 meters looking forward 200.000000 meters along route # Maximum depth: 2349.863527 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2284.062515 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.530156; longitude = -130.017289; duration = 400; initialDepth = 2284.062515; finalDepth = 2284.062515; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.1884419999997 # Actual altitude: 63.1884419999997 # Commanded vehicle depth: 2284.062515 # Seafloor depth: -2335.408441 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.100978 meters # Minimum depth: 2334.062515 meters looking forward 200.000000 meters along route # Maximum depth: 2351.986395 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2284.062515 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.529258; longitude = -130.017387; duration = 400; initialDepth = 2285.067156; finalDepth = 2284.062515; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.278217 # Actual altitude: 60.278217 # Commanded vehicle depth: 2284.062515 # Seafloor depth: -2344.340732 # 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 28 # Segment length 100.100973 meters # Minimum depth: 2335.067156 meters looking forward 200.000000 meters along route # Maximum depth: 2360.888777 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2285.067156 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.528360; longitude = -130.017486; duration = 400; initialDepth = 2285.067156; finalDepth = 2285.067156; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.7934369999998 # Actual altitude: 61.7934369999998 # Commanded vehicle depth: 2285.067156 # Seafloor depth: -2346.860593 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.100968 meters # Minimum depth: 2335.067156 meters looking forward 200.000000 meters along route # Maximum depth: 2375.828968 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2285.067156 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.527462; longitude = -130.017585; duration = 400; initialDepth = 2310.336754; finalDepth = 2285.067156; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.9971580000001 # Actual altitude: 73.9971580000001 # Commanded vehicle depth: 2285.067156 # Seafloor depth: -2359.064314 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.100964 meters # Minimum depth: 2360.336754 meters looking forward 200.000000 meters along route # Maximum depth: 2382.133034 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2310.336754 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.526563; longitude = -130.017683; duration = 400; initialDepth = 2313.478572; finalDepth = 2310.336754; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.9971580000001 # Actual altitude: 73.9971580000001 # Commanded vehicle depth: 2310.336754 # Seafloor depth: -2377.124635 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.100959 meters # Minimum depth: 2363.478572 meters looking forward 200.000000 meters along route # Maximum depth: 2391.911886 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2313.478572 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.525665; longitude = -130.017782; duration = 400; initialDepth = 2322.807457; finalDepth = 2313.478572; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.7878810000002 # Actual altitude: 66.7878810000002 # Commanded vehicle depth: 2313.478572 # Seafloor depth: -2371.174714 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.100955 meters # Minimum depth: 2372.807457 meters looking forward 200.000000 meters along route # Maximum depth: 2391.911886 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2322.807457 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.524767; longitude = -130.017881; duration = 400; initialDepth = 2334.713575; finalDepth = 2322.807457; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.1720070000001 # Actual altitude: 68.1720070000001 # Commanded vehicle depth: 2322.807457 # Seafloor depth: -2390.979464 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.100950 meters # Minimum depth: 2384.713575 meters looking forward 200.000000 meters along route # Maximum depth: 2397.174390 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2334.713575 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.523868; longitude = -130.017979; duration = 400; initialDepth = 2325.783904; finalDepth = 2334.713575; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.1720070000001 # Actual altitude: 68.1720070000001 # Commanded vehicle depth: 2334.713575 # Seafloor depth: -2385.341332 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.100945 meters # Minimum depth: 2375.783904 meters looking forward 200.000000 meters along route # Maximum depth: 2401.804063 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2325.783904 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.522970; longitude = -130.018078; duration = 400; initialDepth = 2325.783904; finalDepth = 2325.783904; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.7628720000002 # Actual altitude: 72.7628720000002 # Commanded vehicle depth: 2325.783904 # Seafloor depth: -2398.546776 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.100942 meters # Minimum depth: 2375.783904 meters looking forward 200.000000 meters along route # Maximum depth: 2401.804063 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2325.783904 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.522072; longitude = -130.018177; duration = 400; initialDepth = 2326.374621; finalDepth = 2325.783904; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.7628720000002 # Actual altitude: 72.7628720000002 # Commanded vehicle depth: 2325.783904 # Seafloor depth: -2380.840265 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.100936 meters # Minimum depth: 2376.374621 meters looking forward 200.000000 meters along route # Maximum depth: 2380.158577 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2326.374621 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.521174; longitude = -130.018275; duration = 400; initialDepth = 2327.122976; finalDepth = 2326.374621; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.0563609999999 # Actual altitude: 55.0563609999999 # Commanded vehicle depth: 2326.374621 # Seafloor depth: -2378.304853 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.100932 meters # Minimum depth: 2377.122976 meters looking forward 200.000000 meters along route # Maximum depth: 2380.158577 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2327.122976 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.520275; longitude = -130.018374; duration = 400; initialDepth = 2327.122976; finalDepth = 2327.122976; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9302320000002 # Actual altitude: 51.9302320000002 # Commanded vehicle depth: 2327.122976 # Seafloor depth: -2378.768378 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.100928 meters # Minimum depth: 2377.122976 meters looking forward 200.000000 meters along route # Maximum depth: 2381.229480 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2327.122976 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.519377; longitude = -130.018473; duration = 400; initialDepth = 2325.170700; finalDepth = 2327.122976; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0560209999999 # Actual altitude: 53.0560209999999 # Commanded vehicle depth: 2327.122976 # Seafloor depth: -2380.178997 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.100923 meters # Minimum depth: 2375.170700 meters looking forward 200.000000 meters along route # Maximum depth: 2381.229480 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2325.170700 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.518479; longitude = -130.018571; duration = 400; initialDepth = 2324.297921; finalDepth = 2325.170700; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.2414610000001 # Actual altitude: 55.2414610000001 # Commanded vehicle depth: 2325.1707 # Seafloor depth: -2380.412161 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.100919 meters # Minimum depth: 2374.297921 meters looking forward 200.000000 meters along route # Maximum depth: 2379.765356 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2324.297921 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.517581; longitude = -130.018670; duration = 400; initialDepth = 2324.297921; finalDepth = 2324.297921; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.2414610000001 # Actual altitude: 55.2414610000001 # Commanded vehicle depth: 2324.297921 # Seafloor depth: -2376.142594 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.100914 meters # Minimum depth: 2374.297921 meters looking forward 200.000000 meters along route # Maximum depth: 2385.138313 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2324.297921 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.516682; longitude = -130.018769; duration = 400; initialDepth = 2325.480825; finalDepth = 2324.297921; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.288282 # Actual altitude: 52.288282 # Commanded vehicle depth: 2324.297921 # Seafloor depth: -2376.586203 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.100909 meters # Minimum depth: 2375.480825 meters looking forward 200.000000 meters along route # Maximum depth: 2385.138313 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2325.480825 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.515784; longitude = -130.018867; duration = 400; initialDepth = 2325.708181; finalDepth = 2325.480825; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.5203419999998 # Actual altitude: 58.5203419999998 # Commanded vehicle depth: 2325.480825 # Seafloor depth: -2384.001167 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 102.489006 meters # Minimum depth: 2375.708181 meters looking forward 200.000000 meters along route # Maximum depth: 2396.131059 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2325.708181 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.514886; longitude = -130.018966; duration = 409; initialDepth = 2335.155850; finalDepth = 2325.708181; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 58.5203419999998 # Actual altitude: 58.5203419999998 # Commanded vehicle depth: 2325.708181 # Seafloor depth: -2376.501504 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 149.981402 meters # Minimum depth: 2385.155850 meters looking forward 200.000000 meters along route # Maximum depth: 2406.203342 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2335.155850 meters set by local depth and desired altitude # Vehicle transit speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.513966; longitude = -130.019067; duration = 599; # abortOnTimeout = True; initialDepth = 2331.325812; finalDepth = 2335.155850; speed = 1.500000; } ####################################################### # Acoustic update 6 - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 61.1175880000001 # Actual altitude: 61.1175880000001 # Commanded vehicle depth: 2335.15585 # Seafloor depth: -2396.273438 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 150.166632 meters # Minimum depth: 2381.325812 meters looking forward 200.000000 meters along route # Maximum depth: 2407.319831 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2331.325812 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.513859; longitude = -130.017153; duration = 600; # abortOnTimeout = True; initialDepth = 2327.724898; finalDepth = 2331.325812; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.1175880000001 # Actual altitude: 61.1175880000001 # Commanded vehicle depth: 2331.325812 # Seafloor depth: -2385.041992 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 100.103289 meters # Minimum depth: 2377.724898 meters looking forward 200.000000 meters along route # Maximum depth: 2403.775556 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2327.724898 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.515207; longitude = -130.017004; duration = 400; initialDepth = 2327.724898; finalDepth = 2327.724898; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.3362510000002 # Actual altitude: 54.3362510000002 # Commanded vehicle depth: 2327.724898 # Seafloor depth: -2382.061149 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 100.103294 meters # Minimum depth: 2377.724898 meters looking forward 200.000000 meters along route # Maximum depth: 2385.766999 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2327.724898 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.516105; longitude = -130.016905; duration = 400; initialDepth = 2330.732861; finalDepth = 2327.724898; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.3362510000002 # Actual altitude: 54.3362510000002 # Commanded vehicle depth: 2327.724898 # Seafloor depth: -2380.132056 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 100.103298 meters # Minimum depth: 2380.732861 meters looking forward 200.000000 meters along route # Maximum depth: 2382.200831 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2330.732861 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.517003; longitude = -130.016806; duration = 400; initialDepth = 2327.277222; finalDepth = 2330.732861; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.407158 # Actual altitude: 52.407158 # Commanded vehicle depth: 2330.732861 # Seafloor depth: -2381.297684 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 100.103302 meters # Minimum depth: 2377.277222 meters looking forward 200.000000 meters along route # Maximum depth: 2383.321966 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2327.277222 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.517901; longitude = -130.016707; duration = 400; initialDepth = 2327.171136; finalDepth = 2327.277222; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5324189999997 # Actual altitude: 54.5324189999997 # Commanded vehicle depth: 2327.277222 # Seafloor depth: -2381.809641 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 100.103307 meters # Minimum depth: 2377.171136 meters looking forward 200.000000 meters along route # Maximum depth: 2383.321966 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2327.171136 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.518800; longitude = -130.016608; duration = 400; initialDepth = 2327.171136; finalDepth = 2327.171136; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5324189999997 # Actual altitude: 54.5324189999997 # Commanded vehicle depth: 2327.171136 # Seafloor depth: -2377.171306 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 100.103311 meters # Minimum depth: 2377.171136 meters looking forward 200.000000 meters along route # Maximum depth: 2381.746890 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2327.171136 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.519698; longitude = -130.016509; duration = 400; initialDepth = 2328.125641; finalDepth = 2327.171136; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5538070000002 # Actual altitude: 50.5538070000002 # Commanded vehicle depth: 2327.171136 # Seafloor depth: -2377.724943 # 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 26 # Segment length 100.103316 meters # Minimum depth: 2378.125641 meters looking forward 200.000000 meters along route # Maximum depth: 2382.470274 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2328.125641 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.520596; longitude = -130.016410; duration = 400; initialDepth = 2326.829141; finalDepth = 2328.125641; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6112819999998 # Actual altitude: 53.6112819999998 # Commanded vehicle depth: 2328.125641 # Seafloor depth: -2381.736923 # 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 26 # Segment length 100.103320 meters # Minimum depth: 2376.829141 meters looking forward 200.000000 meters along route # Maximum depth: 2382.470274 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2326.829141 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.521494; longitude = -130.016311; duration = 400; initialDepth = 2326.829141; finalDepth = 2326.829141; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.4048199999997 # Actual altitude: 54.4048199999997 # Commanded vehicle depth: 2326.829141 # Seafloor depth: -2381.233961 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 100.103325 meters # Minimum depth: 2376.829141 meters looking forward 200.000000 meters along route # Maximum depth: 2380.940336 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2326.829141 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.522393; longitude = -130.016212; duration = 400; initialDepth = 2326.864799; finalDepth = 2326.829141; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.4048199999997 # Actual altitude: 54.4048199999997 # Commanded vehicle depth: 2326.829141 # Seafloor depth: -2378.081540 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 100.103329 meters # Minimum depth: 2376.864799 meters looking forward 200.000000 meters along route # Maximum depth: 2380.121087 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2326.864799 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.523291; longitude = -130.016113; duration = 400; initialDepth = 2326.395499; finalDepth = 2326.864799; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6519020000001 # Actual altitude: 52.6519020000001 # Commanded vehicle depth: 2326.864799 # Seafloor depth: -2379.516701 # 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 26 # Segment length 100.103333 meters # Minimum depth: 2376.395499 meters looking forward 200.000000 meters along route # Maximum depth: 2379.708236 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2326.395499 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.524189; longitude = -130.016014; duration = 400; initialDepth = 2325.196031; finalDepth = 2326.395499; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6519020000001 # Actual altitude: 52.6519020000001 # Commanded vehicle depth: 2326.395499 # Seafloor depth: -2377.038862 # 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 26 # Segment length 100.103338 meters # Minimum depth: 2375.196031 meters looking forward 200.000000 meters along route # Maximum depth: 2380.396850 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2325.196031 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.525088; longitude = -130.015915; duration = 400; initialDepth = 2325.196031; finalDepth = 2325.196031; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6780790000003 # Actual altitude: 50.6780790000003 # Commanded vehicle depth: 2325.196031 # Seafloor depth: -2375.874110 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 100.103342 meters # Minimum depth: 2375.196031 meters looking forward 200.000000 meters along route # Maximum depth: 2380.396850 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2325.196031 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.525986; longitude = -130.015816; duration = 400; initialDepth = 2323.754800; finalDepth = 2325.196031; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2841400000002 # Actual altitude: 53.2841400000002 # Commanded vehicle depth: 2325.196031 # Seafloor depth: -2378.480171 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 100.103347 meters # Minimum depth: 2373.754800 meters looking forward 200.000000 meters along route # Maximum depth: 2378.598406 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2323.754800 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.526884; longitude = -130.015717; duration = 400; initialDepth = 2316.509024; finalDepth = 2323.754800; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.3834459999998 # Actual altitude: 54.3834459999998 # Commanded vehicle depth: 2323.7548 # Seafloor depth: -2378.138246 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 100.103351 meters # Minimum depth: 2366.509024 meters looking forward 200.000000 meters along route # Maximum depth: 2378.390837 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2316.509024 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.527782; longitude = -130.015618; duration = 400; initialDepth = 2310.816308; finalDepth = 2316.509024; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.979527 # Actual altitude: 56.979527 # Commanded vehicle depth: 2316.509024 # Seafloor depth: -2373.488551 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 100.103356 meters # Minimum depth: 2360.816308 meters looking forward 200.000000 meters along route # Maximum depth: 2374.553145 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2310.816308 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.528681; longitude = -130.015519; duration = 400; initialDepth = 2310.429178; finalDepth = 2310.816308; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.979527 # Actual altitude: 56.979527 # Commanded vehicle depth: 2310.816308 # Seafloor depth: -2365.263182 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 100.103360 meters # Minimum depth: 2360.429178 meters looking forward 200.000000 meters along route # Maximum depth: 2365.948186 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2310.429178 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.529579; longitude = -130.015419; duration = 400; initialDepth = 2309.529434; finalDepth = 2310.429178; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.4468740000002 # Actual altitude: 54.4468740000002 # Commanded vehicle depth: 2310.429178 # Seafloor depth: -2360.695670 # 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 26 # Segment length 100.103365 meters # Minimum depth: 2359.529434 meters looking forward 200.000000 meters along route # Maximum depth: 2368.035314 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2309.529434 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.530477; longitude = -130.015320; duration = 400; initialDepth = 2282.196952; finalDepth = 2309.529434; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.2529319999999 # Actual altitude: 56.2529319999999 # Commanded vehicle depth: 2309.529434 # Seafloor depth: -2365.782366 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 100.103368 meters # Minimum depth: 2332.196952 meters looking forward 200.000000 meters along route # Maximum depth: 2368.035314 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2282.196952 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.531375; longitude = -130.015221; duration = 400; initialDepth = 2278.585102; finalDepth = 2282.196952; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.8648820000003 # Actual altitude: 76.8648820000003 # Commanded vehicle depth: 2282.196952 # Seafloor depth: -2359.061834 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 100.103374 meters # Minimum depth: 2328.585102 meters looking forward 200.000000 meters along route # Maximum depth: 2358.653009 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2278.585102 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.532274; longitude = -130.015122; duration = 400; initialDepth = 2278.585102; finalDepth = 2278.585102; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.8648820000003 # Actual altitude: 76.8648820000003 # Commanded vehicle depth: 2278.585102 # Seafloor depth: -2331.213469 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 100.103378 meters # Minimum depth: 2328.585102 meters looking forward 200.000000 meters along route # Maximum depth: 2338.707457 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2278.585102 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.533172; longitude = -130.015023; duration = 400; initialDepth = 2281.678774; finalDepth = 2278.585102; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9975039999999 # Actual altitude: 52.9975039999999 # Commanded vehicle depth: 2278.585102 # Seafloor depth: -2331.582606 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 100.103382 meters # Minimum depth: 2331.678774 meters looking forward 200.000000 meters along route # Maximum depth: 2347.882730 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2281.678774 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.534070; longitude = -130.014924; duration = 400; initialDepth = 2285.895544; finalDepth = 2281.678774; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9975039999999 # Actual altitude: 52.9975039999999 # Commanded vehicle depth: 2281.678774 # Seafloor depth: -2333.160224 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 100.103387 meters # Minimum depth: 2335.895544 meters looking forward 200.000000 meters along route # Maximum depth: 2358.017809 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2285.895544 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.534969; longitude = -130.014825; duration = 400; initialDepth = 2298.637083; finalDepth = 2285.895544; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.421452 # Actual altitude: 62.421452 # Commanded vehicle depth: 2285.895544 # Seafloor depth: -2348.316996 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 100.103391 meters # Minimum depth: 2348.637083 meters looking forward 200.000000 meters along route # Maximum depth: 2374.205669 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2298.637083 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.535867; longitude = -130.014726; duration = 400; initialDepth = 2306.060608; finalDepth = 2298.637083; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.421452 # Actual altitude: 62.421452 # Commanded vehicle depth: 2298.637083 # Seafloor depth: -2355.378663 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 100.103396 meters # Minimum depth: 2356.060608 meters looking forward 200.000000 meters along route # Maximum depth: 2389.028708 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2306.060608 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.536765; longitude = -130.014627; duration = 400; initialDepth = 2329.365348; finalDepth = 2306.060608; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.6839670000004 # Actual altitude: 70.6839670000004 # Commanded vehicle depth: 2306.060608 # Seafloor depth: -2376.744575 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 100.103400 meters # Minimum depth: 2379.365348 meters looking forward 200.000000 meters along route # Maximum depth: 2389.028708 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2329.365348 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.537663; longitude = -130.014528; duration = 400; initialDepth = 2333.100295; finalDepth = 2329.365348; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.6839670000004 # Actual altitude: 70.6839670000004 # Commanded vehicle depth: 2329.365348 # Seafloor depth: -2387.906672 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 100.103404 meters # Minimum depth: 2383.100295 meters looking forward 200.000000 meters along route # Maximum depth: 2392.371318 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2333.100295 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.538562; longitude = -130.014429; duration = 400; initialDepth = 2337.086725; finalDepth = 2333.100295; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.5413240000003 # Actual altitude: 58.5413240000003 # Commanded vehicle depth: 2333.100295 # Seafloor depth: -2387.332328 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 100.103409 meters # Minimum depth: 2387.086725 meters looking forward 200.000000 meters along route # Maximum depth: 2396.510484 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2337.086725 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.539460; longitude = -130.014330; duration = 400; initialDepth = 2340.302845; finalDepth = 2337.086725; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.2320329999998 # Actual altitude: 54.2320329999998 # Commanded vehicle depth: 2337.086725 # Seafloor depth: -2389.888053 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 104.870243 meters # Minimum depth: 2390.302845 meters looking forward 200.000000 meters along route # Maximum depth: 2396.510484 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2340.302845 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.540358; longitude = -130.014231; duration = 419; initialDepth = 2327.666402; finalDepth = 2340.302845; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.5206749999998 # Actual altitude: 55.5206749999998 # Commanded vehicle depth: 2340.302845 # Seafloor depth: -2395.823520 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 144.566930 meters # Minimum depth: 2377.666402 meters looking forward 200.000000 meters along route # Maximum depth: 2393.328776 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2327.666402 meters set by local depth and desired altitude # Vehicle transit speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.541299; longitude = -130.014127; duration = 578; # abortOnTimeout = True; initialDepth = 2301.541366; finalDepth = 2327.666402; speed = 1.500000; } ####################################################### # Acoustic update 6 - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 65.662374 # Actual altitude: 65.662374 # Commanded vehicle depth: 2327.666402 # Seafloor depth: -2393.328776 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 145.368382 meters # Minimum depth: 2351.541366 meters looking forward 200.000000 meters along route # Maximum depth: 2386.650777 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2301.541366 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.541150; longitude = -130.012288; duration = 581; # abortOnTimeout = True; initialDepth = 2290.141599; finalDepth = 2301.541366; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.9482170000001 # Actual altitude: 77.9482170000001 # Commanded vehicle depth: 2301.541366 # Seafloor depth: -2379.489583 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 100.089699 meters # Minimum depth: 2340.141599 meters looking forward 200.000000 meters along route # Maximum depth: 2361.243057 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2290.141599 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.539845; longitude = -130.012428; duration = 400; initialDepth = 2290.141599; finalDepth = 2290.141599; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.9482170000001 # Actual altitude: 77.9482170000001 # Commanded vehicle depth: 2290.141599 # Seafloor depth: -2353.666773 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.089694 meters # Minimum depth: 2340.141599 meters looking forward 200.000000 meters along route # Maximum depth: 2359.455488 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2290.141599 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.538947; longitude = -130.012525; duration = 400; initialDepth = 2290.871087; finalDepth = 2290.141599; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.5251739999999 # Actual altitude: 63.5251739999999 # Commanded vehicle depth: 2290.141599 # Seafloor depth: -2342.577446 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.089690 meters # Minimum depth: 2340.871087 meters looking forward 200.000000 meters along route # Maximum depth: 2367.077624 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2290.871087 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.538048; longitude = -130.012622; duration = 400; initialDepth = 2311.119726; finalDepth = 2290.871087; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.7360610000001 # Actual altitude: 68.7360610000001 # Commanded vehicle depth: 2290.871087 # Seafloor depth: -2359.607148 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.089684 meters # Minimum depth: 2361.119726 meters looking forward 200.000000 meters along route # Maximum depth: 2386.137205 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2311.119726 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.537150; longitude = -130.012718; duration = 400; initialDepth = 2318.361807; finalDepth = 2311.119726; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.7360610000001 # Actual altitude: 68.7360610000001 # Commanded vehicle depth: 2311.119726 # Seafloor depth: -2367.931556 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.089680 meters # Minimum depth: 2368.361807 meters looking forward 200.000000 meters along route # Maximum depth: 2386.137205 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2318.361807 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.536252; longitude = -130.012815; duration = 400; initialDepth = 2327.245285; finalDepth = 2318.361807; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.8288889999999 # Actual altitude: 63.8288889999999 # Commanded vehicle depth: 2318.361807 # Seafloor depth: -2382.190696 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.089674 meters # Minimum depth: 2377.245285 meters looking forward 200.000000 meters along route # Maximum depth: 2382.328934 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2327.245285 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.535354; longitude = -130.012912; duration = 400; initialDepth = 2322.801888; finalDepth = 2327.245285; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.8288889999999 # Actual altitude: 63.8288889999999 # Commanded vehicle depth: 2327.245285 # Seafloor depth: -2381.207185 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.089670 meters # Minimum depth: 2372.801888 meters looking forward 200.000000 meters along route # Maximum depth: 2381.571620 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2322.801888 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.534455; longitude = -130.013009; duration = 400; initialDepth = 2321.616788; finalDepth = 2322.801888; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.2136639999999 # Actual altitude: 54.2136639999999 # Commanded vehicle depth: 2322.801888 # Seafloor depth: -2377.015552 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.089665 meters # Minimum depth: 2371.616788 meters looking forward 200.000000 meters along route # Maximum depth: 2376.848727 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2321.616788 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.533557; longitude = -130.013106; duration = 400; initialDepth = 2321.616788; finalDepth = 2321.616788; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.2136639999999 # Actual altitude: 54.2136639999999 # Commanded vehicle depth: 2321.616788 # Seafloor depth: -2372.546428 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.089660 meters # Minimum depth: 2371.616788 meters looking forward 200.000000 meters along route # Maximum depth: 2380.657127 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2321.616788 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.532659; longitude = -130.013202; duration = 400; initialDepth = 2326.792824; finalDepth = 2321.616788; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.62363 # Actual altitude: 54.62363 # Commanded vehicle depth: 2321.616788 # Seafloor depth: -2376.240418 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.089655 meters # Minimum depth: 2376.792824 meters looking forward 200.000000 meters along route # Maximum depth: 2381.367115 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2326.792824 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.531760; longitude = -130.013299; duration = 400; initialDepth = 2330.182830; finalDepth = 2326.792824; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.62363 # Actual altitude: 54.62363 # Commanded vehicle depth: 2326.792824 # Seafloor depth: -2379.718731 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.089650 meters # Minimum depth: 2380.182830 meters looking forward 200.000000 meters along route # Maximum depth: 2385.826837 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2330.182830 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.530862; longitude = -130.013396; duration = 400; initialDepth = 2329.632726; finalDepth = 2330.182830; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9259069999998 # Actual altitude: 52.9259069999998 # Commanded vehicle depth: 2330.18283 # Seafloor depth: -2381.337478 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.089645 meters # Minimum depth: 2379.632726 meters looking forward 200.000000 meters along route # Maximum depth: 2385.826837 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2329.632726 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.529964; longitude = -130.013493; duration = 400; initialDepth = 2326.278247; finalDepth = 2329.632726; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6109570000003 # Actual altitude: 53.6109570000003 # Commanded vehicle depth: 2329.632726 # Seafloor depth: -2383.243683 # 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 24 # Segment length 100.089640 meters # Minimum depth: 2376.278247 meters looking forward 200.000000 meters along route # Maximum depth: 2383.303970 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2326.278247 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.529066; longitude = -130.013589; duration = 400; initialDepth = 2326.278247; finalDepth = 2326.278247; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6109570000003 # Actual altitude: 53.6109570000003 # Commanded vehicle depth: 2326.278247 # Seafloor depth: -2379.158996 # 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 24 # Segment length 100.089635 meters # Minimum depth: 2376.278247 meters looking forward 200.000000 meters along route # Maximum depth: 2379.824825 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2326.278247 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.528167; longitude = -130.013686; duration = 400; initialDepth = 2326.753414; finalDepth = 2326.278247; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.8807489999999 # Actual altitude: 52.8807489999999 # Commanded vehicle depth: 2326.278247 # Seafloor depth: -2377.305680 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.089631 meters # Minimum depth: 2376.753414 meters looking forward 200.000000 meters along route # Maximum depth: 2379.824825 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2326.753414 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.527269; longitude = -130.013783; duration = 400; initialDepth = 2325.914905; finalDepth = 2326.753414; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7686250000002 # Actual altitude: 51.7686250000002 # Commanded vehicle depth: 2326.753414 # Seafloor depth: -2378.522039 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.089625 meters # Minimum depth: 2375.914905 meters looking forward 200.000000 meters along route # Maximum depth: 2379.685672 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2325.914905 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.526371; longitude = -130.013880; duration = 400; initialDepth = 2326.742707; finalDepth = 2325.914905; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7686250000002 # Actual altitude: 51.7686250000002 # Commanded vehicle depth: 2325.914905 # Seafloor depth: -2375.914905 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.089621 meters # Minimum depth: 2376.742707 meters looking forward 200.000000 meters along route # Maximum depth: 2379.659853 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2326.742707 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.525473; longitude = -130.013976; duration = 400; initialDepth = 2327.024079; finalDepth = 2326.742707; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9171460000002 # Actual altitude: 52.9171460000002 # Commanded vehicle depth: 2326.742707 # Seafloor depth: -2379.659853 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.089615 meters # Minimum depth: 2377.024079 meters looking forward 200.000000 meters along route # Maximum depth: 2379.627114 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2327.024079 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.524574; longitude = -130.014073; duration = 400; initialDepth = 2327.358628; finalDepth = 2327.024079; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9171460000002 # Actual altitude: 52.9171460000002 # Commanded vehicle depth: 2327.024079 # Seafloor depth: -2377.145300 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.089611 meters # Minimum depth: 2377.358628 meters looking forward 200.000000 meters along route # Maximum depth: 2380.086870 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2327.358628 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.523676; longitude = -130.014170; duration = 400; initialDepth = 2327.012673; finalDepth = 2327.358628; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0062290000001 # Actual altitude: 51.0062290000001 # Commanded vehicle depth: 2327.358628 # Seafloor depth: -2378.364857 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.089606 meters # Minimum depth: 2377.012673 meters looking forward 200.000000 meters along route # Maximum depth: 2380.427534 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2327.012673 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.522778; longitude = -130.014267; duration = 400; initialDepth = 2327.012673; finalDepth = 2327.012673; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1594689999997 # Actual altitude: 53.1594689999997 # Commanded vehicle depth: 2327.012673 # Seafloor depth: -2380.172142 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.089601 meters # Minimum depth: 2377.012673 meters looking forward 200.000000 meters along route # Maximum depth: 2380.427534 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2327.012673 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.521879; longitude = -130.014363; duration = 400; initialDepth = 2327.155206; finalDepth = 2327.012673; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1594689999997 # Actual altitude: 53.1594689999997 # Commanded vehicle depth: 2327.012673 # Seafloor depth: -2378.885036 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.089596 meters # Minimum depth: 2377.155206 meters looking forward 200.000000 meters along route # Maximum depth: 2384.273778 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2327.155206 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.520981; longitude = -130.014460; duration = 400; initialDepth = 2328.591478; finalDepth = 2327.155206; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2446239999999 # Actual altitude: 53.2446239999999 # Commanded vehicle depth: 2327.155206 # Seafloor depth: -2380.399830 # 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 24 # Segment length 100.089591 meters # Minimum depth: 2378.591478 meters looking forward 200.000000 meters along route # Maximum depth: 2384.953632 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2328.591478 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.520083; longitude = -130.014557; duration = 400; initialDepth = 2327.609954; finalDepth = 2328.591478; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.866497 # Actual altitude: 55.866497 # Commanded vehicle depth: 2328.591478 # Seafloor depth: -2384.457975 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.089586 meters # Minimum depth: 2377.609954 meters looking forward 200.000000 meters along route # Maximum depth: 2384.953632 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2327.609954 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.519185; longitude = -130.014654; duration = 400; initialDepth = 2326.998341; finalDepth = 2327.609954; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.866497 # Actual altitude: 55.866497 # Commanded vehicle depth: 2327.609954 # Seafloor depth: -2379.001755 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.089581 meters # Minimum depth: 2376.998341 meters looking forward 200.000000 meters along route # Maximum depth: 2378.551108 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2326.998341 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.518286; longitude = -130.014751; duration = 400; initialDepth = 2324.100740; finalDepth = 2326.998341; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3918009999998 # Actual altitude: 51.3918009999998 # Commanded vehicle depth: 2326.998341 # Seafloor depth: -2377.725058 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.089577 meters # Minimum depth: 2374.100740 meters looking forward 200.000000 meters along route # Maximum depth: 2379.659416 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2324.100740 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.517388; longitude = -130.014847; duration = 400; initialDepth = 2324.049211; finalDepth = 2324.100740; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3437960000001 # Actual altitude: 52.3437960000001 # Commanded vehicle depth: 2324.10074 # Seafloor depth: -2376.444536 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.089571 meters # Minimum depth: 2374.049211 meters looking forward 200.000000 meters along route # Maximum depth: 2379.659416 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2324.049211 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.516490; longitude = -130.014944; duration = 400; initialDepth = 2323.745429; finalDepth = 2324.049211; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3437960000001 # Actual altitude: 52.3437960000001 # Commanded vehicle depth: 2324.049211 # Seafloor depth: -2375.056135 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.089566 meters # Minimum depth: 2373.745429 meters looking forward 200.000000 meters along route # Maximum depth: 2383.316283 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2323.745429 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.515591; longitude = -130.015041; duration = 400; initialDepth = 2323.745429; finalDepth = 2323.745429; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1831269999998 # Actual altitude: 54.1831269999998 # Commanded vehicle depth: 2323.745429 # Seafloor depth: -2377.928556 # 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 24 # Segment length 104.874396 meters # Minimum depth: 2373.745429 meters looking forward 200.000000 meters along route # Maximum depth: 2383.316283 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2323.745429 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.514693; longitude = -130.015138; duration = 419; initialDepth = 2324.550298; finalDepth = 2323.745429; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.1831269999998 # Actual altitude: 54.1831269999998 # Commanded vehicle depth: 2323.745429 # Seafloor depth: -2375.673451 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 149.981880 meters # Minimum depth: 2374.550298 meters looking forward 200.000000 meters along route # Maximum depth: 2378.556092 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2324.550298 meters set by local depth and desired altitude # Vehicle transit speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.513752; longitude = -130.015239; duration = 599; # abortOnTimeout = True; initialDepth = 2325.699519; finalDepth = 2324.550298; speed = 1.500000; } ####################################################### # Acoustic update 6 - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 51.9280220000001 # Actual altitude: 51.9280220000001 # Commanded vehicle depth: 2324.550298 # Seafloor depth: -2376.146912 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 152.563979 meters # Minimum depth: 2375.699519 meters looking forward 200.000000 meters along route # Maximum depth: 2384.699915 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2325.699519 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.513645; longitude = -130.013325; duration = 610; # abortOnTimeout = True; initialDepth = 2325.699519; finalDepth = 2325.699519; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6707810000003 # Actual altitude: 52.6707810000003 # Commanded vehicle depth: 2325.699519 # Seafloor depth: -2378.370300 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 100.103299 meters # Minimum depth: 2375.699519 meters looking forward 200.000000 meters along route # Maximum depth: 2384.699915 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2325.699519 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.515014; longitude = -130.013174; duration = 400; initialDepth = 2327.641660; finalDepth = 2325.699519; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.8606160000004 # Actual altitude: 52.8606160000004 # Commanded vehicle depth: 2325.699519 # Seafloor depth: -2378.560135 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.103303 meters # Minimum depth: 2377.641660 meters looking forward 200.000000 meters along route # Maximum depth: 2381.365555 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2327.641660 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.515912; longitude = -130.013075; duration = 400; initialDepth = 2326.892895; finalDepth = 2327.641660; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.8606160000004 # Actual altitude: 52.8606160000004 # Commanded vehicle depth: 2327.64166 # Seafloor depth: -2378.924689 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.103307 meters # Minimum depth: 2376.892895 meters looking forward 200.000000 meters along route # Maximum depth: 2379.489861 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2326.892895 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.516811; longitude = -130.012976; duration = 400; initialDepth = 2326.892895; finalDepth = 2326.892895; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2830290000002 # Actual altitude: 51.2830290000002 # Commanded vehicle depth: 2326.892895 # Seafloor depth: -2377.760384 # 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 100.103312 meters # Minimum depth: 2376.892895 meters looking forward 200.000000 meters along route # Maximum depth: 2379.803586 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2326.892895 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.517709; longitude = -130.012877; duration = 400; initialDepth = 2327.031766; finalDepth = 2326.892895; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8674890000002 # Actual altitude: 50.8674890000002 # Commanded vehicle depth: 2326.892895 # Seafloor depth: -2376.912322 # 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 22 # Segment length 100.103317 meters # Minimum depth: 2377.031766 meters looking forward 200.000000 meters along route # Maximum depth: 2384.000666 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2327.031766 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.518607; longitude = -130.012778; duration = 400; initialDepth = 2331.610003; finalDepth = 2327.031766; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.9713969999998 # Actual altitude: 53.9713969999998 # Commanded vehicle depth: 2327.031766 # Seafloor depth: -2381.003163 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.103320 meters # Minimum depth: 2381.610003 meters looking forward 200.000000 meters along route # Maximum depth: 2384.208330 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2331.610003 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.519505; longitude = -130.012679; duration = 400; initialDepth = 2326.862750; finalDepth = 2331.610003; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.9713969999998 # Actual altitude: 53.9713969999998 # Commanded vehicle depth: 2331.610003 # Seafloor depth: -2384.120322 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.103326 meters # Minimum depth: 2376.862750 meters looking forward 200.000000 meters along route # Maximum depth: 2384.725796 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2326.862750 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.520404; longitude = -130.012580; duration = 400; initialDepth = 2325.257351; finalDepth = 2326.862750; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.6332470000002 # Actual altitude: 56.6332470000002 # Commanded vehicle depth: 2326.86275 # Seafloor depth: -2383.495997 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.103329 meters # Minimum depth: 2375.257351 meters looking forward 200.000000 meters along route # Maximum depth: 2384.725796 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2325.257351 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.521302; longitude = -130.012481; duration = 400; initialDepth = 2325.257351; finalDepth = 2325.257351; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.6332470000002 # Actual altitude: 56.6332470000002 # Commanded vehicle depth: 2325.257351 # Seafloor depth: -2375.399306 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.103334 meters # Minimum depth: 2375.257351 meters looking forward 200.000000 meters along route # Maximum depth: 2387.150870 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2325.257351 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.522200; longitude = -130.012381; duration = 400; initialDepth = 2327.310123; finalDepth = 2325.257351; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.364521 # Actual altitude: 52.364521 # Commanded vehicle depth: 2325.257351 # Seafloor depth: -2377.621872 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.103339 meters # Minimum depth: 2377.310123 meters looking forward 200.000000 meters along route # Maximum depth: 2387.150870 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2327.310123 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.523099; longitude = -130.012282; duration = 400; initialDepth = 2327.310123; finalDepth = 2327.310123; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.9442649999996 # Actual altitude: 55.9442649999996 # Commanded vehicle depth: 2327.310123 # Seafloor depth: -2383.254388 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.103343 meters # Minimum depth: 2377.310123 meters looking forward 200.000000 meters along route # Maximum depth: 2384.490899 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2327.310123 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.523997; longitude = -130.012183; duration = 400; initialDepth = 2331.908423; finalDepth = 2327.310123; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.3189669999997 # Actual altitude: 56.3189669999997 # Commanded vehicle depth: 2327.310123 # Seafloor depth: -2383.629090 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.103347 meters # Minimum depth: 2381.908423 meters looking forward 200.000000 meters along route # Maximum depth: 2384.490899 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2331.908423 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.524895; longitude = -130.012084; duration = 400; initialDepth = 2331.506904; finalDepth = 2331.908423; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.3189669999997 # Actual altitude: 56.3189669999997 # Commanded vehicle depth: 2331.908423 # Seafloor depth: -2383.624734 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.103352 meters # Minimum depth: 2381.506904 meters looking forward 200.000000 meters along route # Maximum depth: 2384.320553 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2331.506904 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.525793; longitude = -130.011985; duration = 400; initialDepth = 2331.420204; finalDepth = 2331.506904; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5264790000001 # Actual altitude: 52.5264790000001 # Commanded vehicle depth: 2331.506904 # Seafloor depth: -2384.033383 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.103357 meters # Minimum depth: 2381.420204 meters looking forward 200.000000 meters along route # Maximum depth: 2383.920024 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2331.420204 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.526692; longitude = -130.011886; duration = 400; initialDepth = 2331.420204; finalDepth = 2331.420204; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5264790000001 # Actual altitude: 52.5264790000001 # Commanded vehicle depth: 2331.420204 # Seafloor depth: -2381.500095 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.103361 meters # Minimum depth: 2381.420204 meters looking forward 200.000000 meters along route # Maximum depth: 2389.123212 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2331.420204 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.527590; longitude = -130.011787; duration = 400; initialDepth = 2334.631801; finalDepth = 2331.420204; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3325030000001 # Actual altitude: 52.3325030000001 # Commanded vehicle depth: 2331.420204 # Seafloor depth: -2383.752707 # 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 22 # Segment length 100.103365 meters # Minimum depth: 2384.631801 meters looking forward 200.000000 meters along route # Maximum depth: 2390.123443 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2334.631801 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.528488; longitude = -130.011688; duration = 400; initialDepth = 2337.933106; finalDepth = 2334.631801; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8752760000002 # Actual altitude: 54.8752760000002 # Commanded vehicle depth: 2334.631801 # Seafloor depth: -2389.507077 # 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 22 # Segment length 100.103370 meters # Minimum depth: 2387.933106 meters looking forward 200.000000 meters along route # Maximum depth: 2391.158174 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2337.933106 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.529386; longitude = -130.011589; duration = 400; initialDepth = 2337.842789; finalDepth = 2337.933106; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8752760000002 # Actual altitude: 54.8752760000002 # Commanded vehicle depth: 2337.933106 # Seafloor depth: -2388.081593 # 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 22 # Segment length 100.103374 meters # Minimum depth: 2387.842789 meters looking forward 200.000000 meters along route # Maximum depth: 2391.158174 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2337.842789 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.530285; longitude = -130.011490; duration = 400; initialDepth = 2333.745813; finalDepth = 2337.842789; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7283080000002 # Actual altitude: 51.7283080000002 # Commanded vehicle depth: 2337.842789 # Seafloor depth: -2389.571097 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.103378 meters # Minimum depth: 2383.745813 meters looking forward 200.000000 meters along route # Maximum depth: 2389.211761 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2333.745813 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.531183; longitude = -130.011391; duration = 400; initialDepth = 2331.796143; finalDepth = 2333.745813; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.171261 # Actual altitude: 54.171261 # Commanded vehicle depth: 2333.745813 # Seafloor depth: -2387.917074 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.103383 meters # Minimum depth: 2381.796143 meters looking forward 200.000000 meters along route # Maximum depth: 2392.455959 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2331.796143 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.532081; longitude = -130.011292; duration = 400; initialDepth = 2330.969346; finalDepth = 2331.796143; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.6598159999999 # Actual altitude: 60.6598159999999 # Commanded vehicle depth: 2331.796143 # Seafloor depth: -2392.455959 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.103388 meters # Minimum depth: 2380.969346 meters looking forward 200.000000 meters along route # Maximum depth: 2389.785000 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2330.969346 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.532980; longitude = -130.011193; duration = 400; initialDepth = 2330.969346; finalDepth = 2330.969346; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.6598159999999 # Actual altitude: 60.6598159999999 # Commanded vehicle depth: 2330.969346 # Seafloor depth: -2381.442971 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.103392 meters # Minimum depth: 2380.969346 meters looking forward 200.000000 meters along route # Maximum depth: 2389.361157 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2330.969346 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.533878; longitude = -130.011094; duration = 400; initialDepth = 2337.164254; finalDepth = 2330.969346; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.1108640000002 # Actual altitude: 56.1108640000002 # Commanded vehicle depth: 2330.969346 # Seafloor depth: -2387.080210 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.103396 meters # Minimum depth: 2387.164254 meters looking forward 200.000000 meters along route # Maximum depth: 2389.563562 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2337.164254 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.534776; longitude = -130.010994; duration = 400; initialDepth = 2336.581020; finalDepth = 2337.164254; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.1108640000002 # Actual altitude: 56.1108640000002 # Commanded vehicle depth: 2337.164254 # Seafloor depth: -2389.476331 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.103401 meters # Minimum depth: 2386.581020 meters looking forward 200.000000 meters along route # Maximum depth: 2391.648186 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2336.581020 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.535674; longitude = -130.010895; duration = 400; initialDepth = 2336.549596; finalDepth = 2336.581020; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.312077 # Actual altitude: 52.312077 # Commanded vehicle depth: 2336.58102 # Seafloor depth: -2387.827841 # 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 22 # Segment length 100.103405 meters # Minimum depth: 2386.549596 meters looking forward 200.000000 meters along route # Maximum depth: 2391.648186 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2336.549596 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.536573; longitude = -130.010796; duration = 400; initialDepth = 2323.643789; finalDepth = 2336.549596; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7472470000002 # Actual altitude: 51.7472470000002 # Commanded vehicle depth: 2336.549596 # Seafloor depth: -2388.296843 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.103410 meters # Minimum depth: 2373.643789 meters looking forward 200.000000 meters along route # Maximum depth: 2388.472245 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2323.643789 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.537471; longitude = -130.010697; duration = 400; initialDepth = 2304.816533; finalDepth = 2323.643789; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.9788129999997 # Actual altitude: 61.9788129999997 # Commanded vehicle depth: 2323.643789 # Seafloor depth: -2385.622602 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.103414 meters # Minimum depth: 2354.816533 meters looking forward 200.000000 meters along route # Maximum depth: 2384.866166 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2304.816533 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.538369; longitude = -130.010598; duration = 400; initialDepth = 2300.740827; finalDepth = 2304.816533; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.4748540000001 # Actual altitude: 68.4748540000001 # Commanded vehicle depth: 2304.816533 # Seafloor depth: -2373.291387 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.103419 meters # Minimum depth: 2350.740827 meters looking forward 200.000000 meters along route # Maximum depth: 2372.649292 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2300.740827 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.539267; longitude = -130.010499; duration = 400; initialDepth = 2292.795470; finalDepth = 2300.740827; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.4748540000001 # Actual altitude: 68.4748540000001 # Commanded vehicle depth: 2300.740827 # Seafloor depth: -2356.640925 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.486838 meters # Minimum depth: 2342.795470 meters looking forward 200.000000 meters along route # Maximum depth: 2362.673253 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2292.795470 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.540166; longitude = -130.010400; duration = 409; initialDepth = 2294.998989; finalDepth = 2292.795470; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 56.3042519999999 # Actual altitude: 56.3042519999999 # Commanded vehicle depth: 2292.79547 # Seafloor depth: -2349.099722 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 145.975024 meters # Minimum depth: 2344.998989 meters looking forward 200.000000 meters along route # Maximum depth: 2381.766837 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2294.998989 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.541085; longitude = -130.010299; duration = 583; # abortOnTimeout = True; initialDepth = 2314.822108; finalDepth = 2294.998989; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 63.2428729999997 # Actual altitude: 63.2428729999997 # Commanded vehicle depth: 2294.998989 # Seafloor depth: -2358.241862 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.95; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 166.789282 meters # Minimum depth: 2364.822108 meters looking forward 200.000000 meters along route # Maximum depth: 2392.849232 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2314.822108 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.540957; longitude = -130.008438; duration = 667; # abortOnTimeout = True; initialDepth = 2334.478086; finalDepth = 2314.822108; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.7534130000004 # Actual altitude: 65.7534130000004 # Commanded vehicle depth: 2314.822108 # Seafloor depth: -2380.575521 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.073562 meters # Minimum depth: 2384.478086 meters looking forward 200.000000 meters along route # Maximum depth: 2394.623519 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2334.478086 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.539460; longitude = -130.008595; duration = 400; initialDepth = 2337.179322; finalDepth = 2334.478086; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.7534130000004 # Actual altitude: 65.7534130000004 # Commanded vehicle depth: 2334.478086 # Seafloor depth: -2388.528578 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 100.073557 meters # Minimum depth: 2387.179322 meters looking forward 200.000000 meters along route # Maximum depth: 2396.339164 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2337.179322 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.538562; longitude = -130.008689; duration = 400; initialDepth = 2337.179322; finalDepth = 2337.179322; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.5981609999999 # Actual altitude: 57.5981609999999 # Commanded vehicle depth: 2337.179322 # Seafloor depth: -2394.777483 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 100.073551 meters # Minimum depth: 2387.179322 meters looking forward 200.000000 meters along route # Maximum depth: 2396.339164 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2337.179322 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.537663; longitude = -130.008783; duration = 400; initialDepth = 2337.578334; finalDepth = 2337.179322; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.5981609999999 # Actual altitude: 57.5981609999999 # Commanded vehicle depth: 2337.179322 # Seafloor depth: -2388.532347 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 100.073546 meters # Minimum depth: 2387.578334 meters looking forward 200.000000 meters along route # Maximum depth: 2393.308436 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2337.578334 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.536765; longitude = -130.008877; duration = 400; initialDepth = 2337.578334; finalDepth = 2337.578334; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.629246 # Actual altitude: 52.629246 # Commanded vehicle depth: 2337.578334 # Seafloor depth: -2390.207580 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 100.073540 meters # Minimum depth: 2387.578334 meters looking forward 200.000000 meters along route # Maximum depth: 2391.056737 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2337.578334 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.535867; longitude = -130.008971; duration = 400; initialDepth = 2338.556697; finalDepth = 2337.578334; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.629246 # Actual altitude: 52.629246 # Commanded vehicle depth: 2337.578334 # Seafloor depth: -2389.691901 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 100.073534 meters # Minimum depth: 2388.556697 meters looking forward 200.000000 meters along route # Maximum depth: 2391.056737 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2338.556697 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.534969; longitude = -130.009065; duration = 400; initialDepth = 2338.048970; finalDepth = 2338.556697; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1135670000003 # Actual altitude: 52.1135670000003 # Commanded vehicle depth: 2338.556697 # Seafloor depth: -2390.547854 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 100.073530 meters # Minimum depth: 2388.048970 meters looking forward 200.000000 meters along route # Maximum depth: 2390.835249 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2338.048970 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.534070; longitude = -130.009159; duration = 400; initialDepth = 2336.629811; finalDepth = 2338.048970; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9911569999999 # Actual altitude: 51.9911569999999 # Commanded vehicle depth: 2338.04897 # Seafloor depth: -2389.172622 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 100.073523 meters # Minimum depth: 2386.629811 meters looking forward 200.000000 meters along route # Maximum depth: 2391.403897 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2336.629811 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.533172; longitude = -130.009253; duration = 400; initialDepth = 2336.105396; finalDepth = 2336.629811; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7740860000004 # Actual altitude: 54.7740860000004 # Commanded vehicle depth: 2336.629811 # Seafloor depth: -2391.403897 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 100.073519 meters # Minimum depth: 2386.105396 meters looking forward 200.000000 meters along route # Maximum depth: 2390.725894 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2336.105396 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.532274; longitude = -130.009347; duration = 400; initialDepth = 2336.105396; finalDepth = 2336.105396; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7740860000004 # Actual altitude: 54.7740860000004 # Commanded vehicle depth: 2336.105396 # Seafloor depth: -2387.398962 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 100.073512 meters # Minimum depth: 2386.105396 meters looking forward 200.000000 meters along route # Maximum depth: 2389.937759 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2336.105396 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.531375; longitude = -130.009441; duration = 400; initialDepth = 2338.739344; finalDepth = 2336.105396; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.511356 # Actual altitude: 53.511356 # Commanded vehicle depth: 2336.105396 # Seafloor depth: -2389.616752 # 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 20 # Segment length 100.073508 meters # Minimum depth: 2388.739344 meters looking forward 200.000000 meters along route # Maximum depth: 2391.487834 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2338.739344 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.530477; longitude = -130.009535; duration = 400; initialDepth = 2338.633807; finalDepth = 2338.739344; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.511356 # Actual altitude: 53.511356 # Commanded vehicle depth: 2338.739344 # Seafloor depth: -2390.869626 # 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 20 # Segment length 100.073502 meters # Minimum depth: 2388.633807 meters looking forward 200.000000 meters along route # Maximum depth: 2391.487834 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2338.633807 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.529579; longitude = -130.009629; duration = 400; initialDepth = 2335.151546; finalDepth = 2338.633807; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1302820000001 # Actual altitude: 52.1302820000001 # Commanded vehicle depth: 2338.633807 # Seafloor depth: -2389.138343 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 100.073496 meters # Minimum depth: 2385.151546 meters looking forward 200.000000 meters along route # Maximum depth: 2391.021005 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2335.151546 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.528681; longitude = -130.009723; duration = 400; initialDepth = 2333.593377; finalDepth = 2335.151546; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.9944219999998 # Actual altitude: 54.9944219999998 # Commanded vehicle depth: 2335.151546 # Seafloor depth: -2390.145968 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 100.073491 meters # Minimum depth: 2383.593377 meters looking forward 200.000000 meters along route # Maximum depth: 2390.034238 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2333.593377 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.527782; longitude = -130.009817; duration = 400; initialDepth = 2333.593377; finalDepth = 2333.593377; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.9944219999998 # Actual altitude: 54.9944219999998 # Commanded vehicle depth: 2333.593377 # Seafloor depth: -2385.079588 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 100.073485 meters # Minimum depth: 2383.593377 meters looking forward 200.000000 meters along route # Maximum depth: 2387.897794 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2333.593377 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.526884; longitude = -130.009911; duration = 400; initialDepth = 2332.772225; finalDepth = 2333.593377; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.339817 # Actual altitude: 52.339817 # Commanded vehicle depth: 2333.593377 # Seafloor depth: -2385.933194 # 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 20 # Segment length 100.073480 meters # Minimum depth: 2382.772225 meters looking forward 200.000000 meters along route # Maximum depth: 2387.897794 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2332.772225 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.525986; longitude = -130.010005; duration = 400; initialDepth = 2332.618698; finalDepth = 2332.772225; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.339817 # Actual altitude: 52.339817 # Commanded vehicle depth: 2332.772225 # Seafloor depth: -2383.306254 # 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 20 # Segment length 100.073474 meters # Minimum depth: 2382.618698 meters looking forward 200.000000 meters along route # Maximum depth: 2386.101571 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2332.618698 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.525088; longitude = -130.010099; duration = 400; initialDepth = 2330.078555; finalDepth = 2332.618698; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.344384 # Actual altitude: 52.344384 # Commanded vehicle depth: 2332.618698 # Seafloor depth: -2384.963082 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 100.073469 meters # Minimum depth: 2380.078555 meters looking forward 200.000000 meters along route # Maximum depth: 2384.981071 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2330.078555 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.524189; longitude = -130.010193; duration = 400; initialDepth = 2330.078555; finalDepth = 2330.078555; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1979000000001 # Actual altitude: 54.1979000000001 # Commanded vehicle depth: 2330.078555 # Seafloor depth: -2384.276455 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 100.073464 meters # Minimum depth: 2380.078555 meters looking forward 200.000000 meters along route # Maximum depth: 2385.001690 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2330.078555 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.523291; longitude = -130.010287; duration = 400; initialDepth = 2329.624492; finalDepth = 2330.078555; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1979000000001 # Actual altitude: 54.1979000000001 # Commanded vehicle depth: 2330.078555 # Seafloor depth: -2380.972128 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 100.073458 meters # Minimum depth: 2379.624492 meters looking forward 200.000000 meters along route # Maximum depth: 2385.001690 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2329.624492 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.522393; longitude = -130.010381; duration = 400; initialDepth = 2328.494458; finalDepth = 2329.624492; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4408240000002 # Actual altitude: 52.4408240000002 # Commanded vehicle depth: 2329.624492 # Seafloor depth: -2382.065316 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 100.073452 meters # Minimum depth: 2378.494458 meters looking forward 200.000000 meters along route # Maximum depth: 2383.640528 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2328.494458 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.521494; longitude = -130.010475; duration = 400; initialDepth = 2325.651359; finalDepth = 2328.494458; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4408240000002 # Actual altitude: 52.4408240000002 # Commanded vehicle depth: 2328.494458 # Seafloor depth: -2380.805555 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 100.073447 meters # Minimum depth: 2375.651359 meters looking forward 200.000000 meters along route # Maximum depth: 2381.391375 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2325.651359 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.520596; longitude = -130.010569; duration = 400; initialDepth = 2325.651359; finalDepth = 2325.651359; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4233039999999 # Actual altitude: 52.4233039999999 # Commanded vehicle depth: 2325.651359 # Seafloor depth: -2378.074663 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 100.073442 meters # Minimum depth: 2375.651359 meters looking forward 200.000000 meters along route # Maximum depth: 2381.268686 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2325.651359 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.519698; longitude = -130.010663; duration = 400; initialDepth = 2324.602127; finalDepth = 2325.651359; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4233039999999 # Actual altitude: 52.4233039999999 # Commanded vehicle depth: 2325.651359 # Seafloor depth: -2377.642884 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 100.073436 meters # Minimum depth: 2374.602127 meters looking forward 200.000000 meters along route # Maximum depth: 2382.179098 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2324.602127 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.518800; longitude = -130.010757; duration = 400; initialDepth = 2324.602127; finalDepth = 2324.602127; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6685829999997 # Actual altitude: 53.6685829999997 # Commanded vehicle depth: 2324.602127 # Seafloor depth: -2378.270710 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 100.073430 meters # Minimum depth: 2374.602127 meters looking forward 200.000000 meters along route # Maximum depth: 2383.456652 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2324.602127 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.517901; longitude = -130.010851; duration = 400; initialDepth = 2326.249696; finalDepth = 2324.602127; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6685829999997 # Actual altitude: 53.6685829999997 # Commanded vehicle depth: 2324.602127 # Seafloor depth: -2377.598860 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 100.073425 meters # Minimum depth: 2376.249696 meters looking forward 200.000000 meters along route # Maximum depth: 2383.456652 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2326.249696 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.517003; longitude = -130.010945; duration = 400; initialDepth = 2325.816810; finalDepth = 2326.249696; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.0818990000002 # Actual altitude: 55.0818990000002 # Commanded vehicle depth: 2326.249696 # Seafloor depth: -2381.331595 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 100.073420 meters # Minimum depth: 2375.816810 meters looking forward 200.000000 meters along route # Maximum depth: 2381.150673 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2325.816810 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.516105; longitude = -130.011039; duration = 400; initialDepth = 2325.816810; finalDepth = 2325.816810; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.0818990000002 # Actual altitude: 55.0818990000002 # Commanded vehicle depth: 2325.81681 # Seafloor depth: -2376.102628 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 100.073414 meters # Minimum depth: 2375.816810 meters looking forward 200.000000 meters along route # Maximum depth: 2379.353406 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2325.816810 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.515207; longitude = -130.011133; duration = 400; initialDepth = 2326.898809; finalDepth = 2325.816810; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.324869 # Actual altitude: 53.324869 # Commanded vehicle depth: 2325.81681 # Seafloor depth: -2379.141679 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 104.860241 meters # Minimum depth: 2376.898809 meters looking forward 200.000000 meters along route # Maximum depth: 2380.692694 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2326.898809 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.514308; longitude = -130.011227; duration = 419; initialDepth = 2326.898809; finalDepth = 2326.898809; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.324869 # Actual altitude: 53.324869 # Commanded vehicle depth: 2326.898809 # Seafloor depth: -2378.347284 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 143.047810 meters # Minimum depth: 2376.898809 meters looking forward 200.000000 meters along route # Maximum depth: 2381.708457 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2326.898809 meters set by local depth and desired altitude # Vehicle transit speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.513367; longitude = -130.011325; duration = 572; # abortOnTimeout = True; initialDepth = 2327.213889; finalDepth = 2326.898809; speed = 1.500000; } ####################################################### # Acoustic update 6 - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 54.4009960000003 # Actual altitude: 54.4009960000003 # Commanded vehicle depth: 2326.898809 # Seafloor depth: -2381.299805 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 147.768806 meters # Minimum depth: 2377.213889 meters looking forward 200.000000 meters along route # Maximum depth: 2382.475367 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2327.213889 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.513431; longitude = -130.009496; duration = 591; # abortOnTimeout = True; initialDepth = 2327.512867; finalDepth = 2327.213889; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.4009960000003 # Actual altitude: 54.4009960000003 # Commanded vehicle depth: 2327.213889 # Seafloor depth: -2377.306641 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 100.074672 meters # Minimum depth: 2377.512867 meters looking forward 200.000000 meters along route # Maximum depth: 2398.459627 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2327.512867 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.514757; longitude = -130.009357; duration = 400; initialDepth = 2324.100072; finalDepth = 2327.512867; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.0748170000002 # Actual altitude: 55.0748170000002 # Commanded vehicle depth: 2327.512867 # Seafloor depth: -2382.587684 # 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 18 # Segment length 100.074678 meters # Minimum depth: 2374.100072 meters looking forward 200.000000 meters along route # Maximum depth: 2398.459627 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2324.100072 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.515656; longitude = -130.009263; duration = 400; initialDepth = 2324.100072; finalDepth = 2324.100072; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.0748170000002 # Actual altitude: 55.0748170000002 # Commanded vehicle depth: 2324.100072 # Seafloor depth: -2378.521807 # 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 18 # Segment length 100.074683 meters # Minimum depth: 2374.100072 meters looking forward 200.000000 meters along route # Maximum depth: 2383.321022 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2324.100072 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.516554; longitude = -130.009168; duration = 400; initialDepth = 2326.628621; finalDepth = 2324.100072; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.4217349999999 # Actual altitude: 54.4217349999999 # Commanded vehicle depth: 2324.100072 # Seafloor depth: -2375.977256 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.074689 meters # Minimum depth: 2376.628621 meters looking forward 200.000000 meters along route # Maximum depth: 2383.321022 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2326.628621 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.517452; longitude = -130.009074; duration = 400; initialDepth = 2325.433644; finalDepth = 2326.628621; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.3530460000002 # Actual altitude: 55.3530460000002 # Commanded vehicle depth: 2326.628621 # Seafloor depth: -2381.981667 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.074694 meters # Minimum depth: 2375.433644 meters looking forward 200.000000 meters along route # Maximum depth: 2382.211290 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2325.433644 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.518350; longitude = -130.008980; duration = 400; initialDepth = 2325.420789; finalDepth = 2325.433644; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.3530460000002 # Actual altitude: 55.3530460000002 # Commanded vehicle depth: 2325.433644 # Seafloor depth: -2379.097218 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.074699 meters # Minimum depth: 2375.420789 meters looking forward 200.000000 meters along route # Maximum depth: 2379.466839 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2325.420789 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.519249; longitude = -130.008886; duration = 400; initialDepth = 2327.468081; finalDepth = 2325.420789; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6635739999997 # Actual altitude: 53.6635739999997 # Commanded vehicle depth: 2325.420789 # Seafloor depth: -2375.420789 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.074705 meters # Minimum depth: 2377.468081 meters looking forward 200.000000 meters along route # Maximum depth: 2384.389174 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2327.468081 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.520147; longitude = -130.008792; duration = 400; initialDepth = 2330.436653; finalDepth = 2327.468081; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6240520000001 # Actual altitude: 52.6240520000001 # Commanded vehicle depth: 2327.468081 # Seafloor depth: -2380.092133 # 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 18 # Segment length 100.074710 meters # Minimum depth: 2380.436653 meters looking forward 200.000000 meters along route # Maximum depth: 2384.389174 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2330.436653 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.521045; longitude = -130.008697; duration = 400; initialDepth = 2330.436653; finalDepth = 2330.436653; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6240520000001 # Actual altitude: 52.6240520000001 # Commanded vehicle depth: 2330.436653 # Seafloor depth: -2380.509932 # 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 18 # Segment length 100.074716 meters # Minimum depth: 2380.436653 meters looking forward 200.000000 meters along route # Maximum depth: 2383.437546 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2330.436653 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.521944; longitude = -130.008603; duration = 400; initialDepth = 2330.827889; finalDepth = 2330.436653; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8965869999997 # Actual altitude: 51.8965869999997 # Commanded vehicle depth: 2330.436653 # Seafloor depth: -2382.333240 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.074721 meters # Minimum depth: 2380.827889 meters looking forward 200.000000 meters along route # Maximum depth: 2387.329071 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2330.827889 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.522842; longitude = -130.008509; duration = 400; initialDepth = 2335.092421; finalDepth = 2330.827889; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.543651 # Actual altitude: 54.543651 # Commanded vehicle depth: 2330.827889 # Seafloor depth: -2385.371540 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.074727 meters # Minimum depth: 2385.092421 meters looking forward 200.000000 meters along route # Maximum depth: 2387.522055 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2335.092421 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.523740; longitude = -130.008415; duration = 400; initialDepth = 2335.092421; finalDepth = 2335.092421; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.543651 # Actual altitude: 54.543651 # Commanded vehicle depth: 2335.092421 # Seafloor depth: -2386.580329 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.074732 meters # Minimum depth: 2385.092421 meters looking forward 200.000000 meters along route # Maximum depth: 2391.711621 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2335.092421 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.524638; longitude = -130.008320; duration = 400; initialDepth = 2336.853668; finalDepth = 2335.092421; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2145540000001 # Actual altitude: 52.2145540000001 # Commanded vehicle depth: 2335.092421 # Seafloor depth: -2387.306975 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.074738 meters # Minimum depth: 2386.853668 meters looking forward 200.000000 meters along route # Maximum depth: 2392.011462 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2336.853668 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.525537; longitude = -130.008226; duration = 400; initialDepth = 2340.307745; finalDepth = 2336.853668; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.4122299999999 # Actual altitude: 53.4122299999999 # Commanded vehicle depth: 2336.853668 # Seafloor depth: -2390.265898 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.074743 meters # Minimum depth: 2390.307745 meters looking forward 200.000000 meters along route # Maximum depth: 2397.018307 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2340.307745 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.526435; longitude = -130.008132; duration = 400; initialDepth = 2342.585341; finalDepth = 2340.307745; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.4122299999999 # Actual altitude: 53.4122299999999 # Commanded vehicle depth: 2340.307745 # Seafloor depth: -2392.712194 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.074748 meters # Minimum depth: 2392.585341 meters looking forward 200.000000 meters along route # Maximum depth: 2401.306159 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2342.585341 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.527333; longitude = -130.008038; duration = 400; initialDepth = 2345.303438; finalDepth = 2342.585341; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.046053 # Actual altitude: 53.046053 # Commanded vehicle depth: 2342.585341 # Seafloor depth: -2395.631394 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.074754 meters # Minimum depth: 2395.303438 meters looking forward 200.000000 meters along route # Maximum depth: 2408.909932 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2345.303438 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.528232; longitude = -130.007944; duration = 400; initialDepth = 2338.998419; finalDepth = 2345.303438; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.3687789999999 # Actual altitude: 56.3687789999999 # Commanded vehicle depth: 2345.303438 # Seafloor depth: -2401.672217 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.074759 meters # Minimum depth: 2388.998419 meters looking forward 200.000000 meters along route # Maximum depth: 2408.909932 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2338.998419 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.529130; longitude = -130.007849; duration = 400; initialDepth = 2337.733613; finalDepth = 2338.998419; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.363034 # Actual altitude: 68.363034 # Commanded vehicle depth: 2338.998419 # Seafloor depth: -2407.361453 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.074765 meters # Minimum depth: 2387.733613 meters looking forward 200.000000 meters along route # Maximum depth: 2405.531291 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2337.733613 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.530028; longitude = -130.007755; duration = 400; initialDepth = 2336.255844; finalDepth = 2337.733613; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.363034 # Actual altitude: 68.363034 # Commanded vehicle depth: 2337.733613 # Seafloor depth: -2390.503058 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.074770 meters # Minimum depth: 2386.255844 meters looking forward 200.000000 meters along route # Maximum depth: 2390.472715 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2336.255844 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.530926; longitude = -130.007661; duration = 400; initialDepth = 2336.255844; finalDepth = 2336.255844; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7694449999999 # Actual altitude: 52.7694449999999 # Commanded vehicle depth: 2336.255844 # Seafloor depth: -2388.260838 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.074776 meters # Minimum depth: 2386.255844 meters looking forward 200.000000 meters along route # Maximum depth: 2389.817318 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2336.255844 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.531825; longitude = -130.007567; duration = 400; initialDepth = 2338.073968; finalDepth = 2336.255844; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7161770000002 # Actual altitude: 52.7161770000002 # Commanded vehicle depth: 2336.255844 # Seafloor depth: -2388.972021 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.074781 meters # Minimum depth: 2388.073968 meters looking forward 200.000000 meters along route # Maximum depth: 2389.641524 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2338.073968 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.532723; longitude = -130.007472; duration = 400; initialDepth = 2338.394790; finalDepth = 2338.073968; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7161770000002 # Actual altitude: 52.7161770000002 # Commanded vehicle depth: 2338.073968 # Seafloor depth: -2388.765526 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.074786 meters # Minimum depth: 2388.394790 meters looking forward 200.000000 meters along route # Maximum depth: 2389.951750 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2338.394790 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.533621; longitude = -130.007378; duration = 400; initialDepth = 2338.119512; finalDepth = 2338.394790; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8537110000002 # Actual altitude: 50.8537110000002 # Commanded vehicle depth: 2338.39479 # Seafloor depth: -2389.248501 # 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 18 # Segment length 100.074792 meters # Minimum depth: 2388.119512 meters looking forward 200.000000 meters along route # Maximum depth: 2391.088526 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2338.119512 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.534519; longitude = -130.007284; duration = 400; initialDepth = 2337.467428; finalDepth = 2338.119512; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8537110000002 # Actual altitude: 50.8537110000002 # Commanded vehicle depth: 2338.119512 # Seafloor depth: -2388.627023 # 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 18 # Segment length 100.074798 meters # Minimum depth: 2387.467428 meters looking forward 200.000000 meters along route # Maximum depth: 2391.088526 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2337.467428 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.535418; longitude = -130.007190; duration = 400; initialDepth = 2337.416696; finalDepth = 2337.467428; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5625479999999 # Actual altitude: 51.5625479999999 # Commanded vehicle depth: 2337.467428 # Seafloor depth: -2389.029976 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.074802 meters # Minimum depth: 2387.416696 meters looking forward 200.000000 meters along route # Maximum depth: 2389.457442 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2337.416696 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.536316; longitude = -130.007096; duration = 400; initialDepth = 2337.416696; finalDepth = 2337.416696; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5625479999999 # Actual altitude: 51.5625479999999 # Commanded vehicle depth: 2337.416696 # Seafloor depth: -2388.637369 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.074809 meters # Minimum depth: 2387.416696 meters looking forward 200.000000 meters along route # Maximum depth: 2390.598554 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2337.416696 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.537214; longitude = -130.007001; duration = 400; initialDepth = 2338.527113; finalDepth = 2337.416696; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4897800000003 # Actual altitude: 52.4897800000003 # Commanded vehicle depth: 2337.416696 # Seafloor depth: -2389.906476 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.074813 meters # Minimum depth: 2388.527113 meters looking forward 200.000000 meters along route # Maximum depth: 2395.366853 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2338.527113 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.538113; longitude = -130.006907; duration = 400; initialDepth = 2338.527113; finalDepth = 2338.527113; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4897800000003 # Actual altitude: 52.4897800000003 # Commanded vehicle depth: 2338.527113 # Seafloor depth: -2390.315843 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.074820 meters # Minimum depth: 2388.527113 meters looking forward 200.000000 meters along route # Maximum depth: 2395.366853 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2338.527113 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.539011; longitude = -130.006813; duration = 400; initialDepth = 2338.338354; finalDepth = 2338.527113; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0869600000001 # Actual altitude: 53.0869600000001 # Commanded vehicle depth: 2338.527113 # Seafloor depth: -2391.614073 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 104.840292 meters # Minimum depth: 2388.338354 meters looking forward 200.000000 meters along route # Maximum depth: 2390.944889 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2338.338354 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.539909; longitude = -130.006719; duration = 419; initialDepth = 2332.934464; finalDepth = 2338.338354; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.0869600000001 # Actual altitude: 53.0869600000001 # Commanded vehicle depth: 2338.338354 # Seafloor depth: -2389.312784 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 153.920583 meters # Minimum depth: 2382.934464 meters looking forward 200.000000 meters along route # Maximum depth: 2406.605299 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2332.934464 meters set by local depth and desired altitude # Vehicle transit speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.540850; longitude = -130.006620; duration = 615; # abortOnTimeout = True; initialDepth = 2338.766498; finalDepth = 2332.934464; speed = 1.500000; } ####################################################### # Acoustic update 6 - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 56.6742600000002 # Actual altitude: 56.6742600000002 # Commanded vehicle depth: 2332.934464 # Seafloor depth: -2389.608724 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 152.509770 meters # Minimum depth: 2388.766498 meters looking forward 200.000000 meters along route # Maximum depth: 2406.605299 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2338.766498 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.540765; longitude = -130.004652; duration = 610; # abortOnTimeout = True; initialDepth = 2338.766498; finalDepth = 2338.766498; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.6944400000002 # Actual altitude: 60.6944400000002 # Commanded vehicle depth: 2338.766498 # Seafloor depth: -2399.460938 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 100.084529 meters # Minimum depth: 2388.766498 meters looking forward 200.000000 meters along route # Maximum depth: 2399.440993 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2338.766498 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.539396; longitude = -130.004798; duration = 400; initialDepth = 2338.984236; finalDepth = 2338.766498; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.6944400000002 # Actual altitude: 60.6944400000002 # Commanded vehicle depth: 2338.766498 # Seafloor depth: -2388.859721 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.084525 meters # Minimum depth: 2388.984236 meters looking forward 200.000000 meters along route # Maximum depth: 2405.043423 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2338.984236 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.538498; longitude = -130.004894; duration = 400; initialDepth = 2339.474933; finalDepth = 2338.984236; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.3748370000003 # Actual altitude: 61.3748370000003 # Commanded vehicle depth: 2338.984236 # Seafloor depth: -2400.359073 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.084520 meters # Minimum depth: 2389.474933 meters looking forward 200.000000 meters along route # Maximum depth: 2405.043423 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2339.474933 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.537599; longitude = -130.004990; duration = 400; initialDepth = 2339.536685; finalDepth = 2339.474933; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.3748370000003 # Actual altitude: 61.3748370000003 # Commanded vehicle depth: 2339.474933 # Seafloor depth: -2389.474933 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.084514 meters # Minimum depth: 2389.536685 meters looking forward 200.000000 meters along route # Maximum depth: 2394.527335 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2339.536685 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.536701; longitude = -130.005086; duration = 400; initialDepth = 2341.356595; finalDepth = 2339.536685; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0050679999999 # Actual altitude: 52.0050679999999 # Commanded vehicle depth: 2339.536685 # Seafloor depth: -2391.541753 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.084510 meters # Minimum depth: 2391.356595 meters looking forward 200.000000 meters along route # Maximum depth: 2394.527335 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2341.356595 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.535803; longitude = -130.005182; duration = 400; initialDepth = 2339.133287; finalDepth = 2341.356595; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0050679999999 # Actual altitude: 52.0050679999999 # Commanded vehicle depth: 2341.356595 # Seafloor depth: -2391.603110 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.084504 meters # Minimum depth: 2389.133287 meters looking forward 200.000000 meters along route # Maximum depth: 2392.198760 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2339.133287 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.534904; longitude = -130.005278; duration = 400; initialDepth = 2338.943124; finalDepth = 2339.133287; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.100097 # Actual altitude: 52.100097 # Commanded vehicle depth: 2339.133287 # Seafloor depth: -2391.233384 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.084499 meters # Minimum depth: 2388.943124 meters looking forward 200.000000 meters along route # Maximum depth: 2390.797042 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2338.943124 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.534006; longitude = -130.005374; duration = 400; initialDepth = 2334.276244; finalDepth = 2338.943124; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.100097 # Actual altitude: 52.100097 # Commanded vehicle depth: 2338.943124 # Seafloor depth: -2390.295559 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.084494 meters # Minimum depth: 2384.276244 meters looking forward 200.000000 meters along route # Maximum depth: 2390.176404 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2334.276244 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.533108; longitude = -130.005470; duration = 400; initialDepth = 2334.276244; finalDepth = 2334.276244; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.619878 # Actual altitude: 54.619878 # Commanded vehicle depth: 2334.276244 # Seafloor depth: -2388.896122 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.084489 meters # Minimum depth: 2384.276244 meters looking forward 200.000000 meters along route # Maximum depth: 2390.164416 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2334.276244 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.532210; longitude = -130.005566; duration = 400; initialDepth = 2338.635718; finalDepth = 2334.276244; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.6979539999998 # Actual altitude: 54.6979539999998 # Commanded vehicle depth: 2334.276244 # Seafloor depth: -2388.974198 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.084484 meters # Minimum depth: 2388.635718 meters looking forward 200.000000 meters along route # Maximum depth: 2396.095395 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2338.635718 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.531311; longitude = -130.005662; duration = 400; initialDepth = 2338.803894; finalDepth = 2338.635718; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.6979539999998 # Actual altitude: 54.6979539999998 # Commanded vehicle depth: 2338.635718 # Seafloor depth: -2390.748882 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.084479 meters # Minimum depth: 2388.803894 meters looking forward 200.000000 meters along route # Maximum depth: 2397.150775 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2338.803894 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.530413; longitude = -130.005757; duration = 400; initialDepth = 2338.803894; finalDepth = 2338.803894; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.3468809999999 # Actual altitude: 58.3468809999999 # Commanded vehicle depth: 2338.803894 # Seafloor depth: -2397.150775 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.084474 meters # Minimum depth: 2388.803894 meters looking forward 200.000000 meters along route # Maximum depth: 2403.056123 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2338.803894 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.529515; longitude = -130.005853; duration = 400; initialDepth = 2342.783164; finalDepth = 2338.803894; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.3468809999999 # Actual altitude: 58.3468809999999 # Commanded vehicle depth: 2338.803894 # Seafloor depth: -2391.819020 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.084468 meters # Minimum depth: 2392.783164 meters looking forward 200.000000 meters along route # Maximum depth: 2405.491939 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2342.783164 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.528616; longitude = -130.005949; duration = 400; initialDepth = 2350.673893; finalDepth = 2342.783164; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.7029590000002 # Actual altitude: 60.7029590000002 # Commanded vehicle depth: 2342.783164 # Seafloor depth: -2403.486123 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.084464 meters # Minimum depth: 2400.673893 meters looking forward 200.000000 meters along route # Maximum depth: 2405.491939 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2350.673893 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.527718; longitude = -130.006045; duration = 400; initialDepth = 2350.673893; finalDepth = 2350.673893; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.7029590000002 # Actual altitude: 60.7029590000002 # Commanded vehicle depth: 2350.673893 # Seafloor depth: -2405.263312 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.084458 meters # Minimum depth: 2400.673893 meters looking forward 200.000000 meters along route # Maximum depth: 2407.406281 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2350.673893 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.526820; longitude = -130.006141; duration = 400; initialDepth = 2346.205468; finalDepth = 2350.673893; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.7403789999998 # Actual altitude: 55.7403789999998 # Commanded vehicle depth: 2350.673893 # Seafloor depth: -2406.414272 # 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 16 # Segment length 100.084453 meters # Minimum depth: 2396.205468 meters looking forward 200.000000 meters along route # Maximum depth: 2407.406281 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2346.205468 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.525922; longitude = -130.006237; duration = 400; initialDepth = 2335.176728; finalDepth = 2346.205468; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.617589 # Actual altitude: 57.617589 # Commanded vehicle depth: 2346.205468 # Seafloor depth: -2403.823057 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.084448 meters # Minimum depth: 2385.176728 meters looking forward 200.000000 meters along route # Maximum depth: 2403.119756 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2335.176728 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.525023; longitude = -130.006333; duration = 400; initialDepth = 2335.176728; finalDepth = 2335.176728; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.8836220000003 # Actual altitude: 59.8836220000003 # Commanded vehicle depth: 2335.176728 # Seafloor depth: -2395.060350 # 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 16 # Segment length 100.084443 meters # Minimum depth: 2385.176728 meters looking forward 200.000000 meters along route # Maximum depth: 2394.761230 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2335.176728 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.524125; longitude = -130.006429; duration = 400; initialDepth = 2334.329709; finalDepth = 2335.176728; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.8836220000003 # Actual altitude: 59.8836220000003 # Commanded vehicle depth: 2335.176728 # Seafloor depth: -2389.112712 # 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 16 # Segment length 100.084438 meters # Minimum depth: 2384.329709 meters looking forward 200.000000 meters along route # Maximum depth: 2391.827135 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2334.329709 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.523227; longitude = -130.006525; duration = 400; initialDepth = 2332.396456; finalDepth = 2334.329709; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.2223939999999 # Actual altitude: 56.2223939999999 # Commanded vehicle depth: 2334.329709 # Seafloor depth: -2390.552103 # 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 16 # Segment length 100.084433 meters # Minimum depth: 2382.396456 meters looking forward 200.000000 meters along route # Maximum depth: 2391.827135 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2332.396456 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.522329; longitude = -130.006621; duration = 400; initialDepth = 2332.165878; finalDepth = 2332.396456; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.2223939999999 # Actual altitude: 56.2223939999999 # Commanded vehicle depth: 2332.396456 # Seafloor depth: -2384.357273 # 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 16 # Segment length 100.084428 meters # Minimum depth: 2382.165878 meters looking forward 200.000000 meters along route # Maximum depth: 2387.910199 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2332.165878 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.521430; longitude = -130.006717; duration = 400; initialDepth = 2333.322327; finalDepth = 2332.165878; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9608170000001 # Actual altitude: 51.9608170000001 # Commanded vehicle depth: 2332.165878 # Seafloor depth: -2382.165878 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.084422 meters # Minimum depth: 2383.322327 meters looking forward 200.000000 meters along route # Maximum depth: 2387.910199 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2333.322327 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.520532; longitude = -130.006812; duration = 400; initialDepth = 2332.730094; finalDepth = 2333.322327; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.9068580000003 # Actual altitude: 53.9068580000003 # Commanded vehicle depth: 2333.322327 # Seafloor depth: -2387.229185 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.084418 meters # Minimum depth: 2382.730094 meters looking forward 200.000000 meters along route # Maximum depth: 2387.053273 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2332.730094 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.519634; longitude = -130.006908; duration = 400; initialDepth = 2332.515766; finalDepth = 2332.730094; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.9068580000003 # Actual altitude: 53.9068580000003 # Commanded vehicle depth: 2332.730094 # Seafloor depth: -2383.906711 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.084412 meters # Minimum depth: 2382.515766 meters looking forward 200.000000 meters along route # Maximum depth: 2384.144829 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2332.515766 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.518735; longitude = -130.007004; duration = 400; initialDepth = 2329.145314; finalDepth = 2332.515766; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.194403 # Actual altitude: 51.194403 # Commanded vehicle depth: 2332.515766 # Seafloor depth: -2383.710169 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.084407 meters # Minimum depth: 2379.145314 meters looking forward 200.000000 meters along route # Maximum depth: 2384.144829 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2329.145314 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.517837; longitude = -130.007100; duration = 400; initialDepth = 2329.145314; finalDepth = 2329.145314; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.354069 # Actual altitude: 53.354069 # Commanded vehicle depth: 2329.145314 # Seafloor depth: -2382.499383 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.084403 meters # Minimum depth: 2379.145314 meters looking forward 200.000000 meters along route # Maximum depth: 2385.076174 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2329.145314 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.516939; longitude = -130.007196; duration = 400; initialDepth = 2328.452130; finalDepth = 2329.145314; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.354069 # Actual altitude: 53.354069 # Commanded vehicle depth: 2329.145314 # Seafloor depth: -2380.310525 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.084397 meters # Minimum depth: 2378.452130 meters looking forward 200.000000 meters along route # Maximum depth: 2386.354147 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2328.452130 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.516041; longitude = -130.007292; duration = 400; initialDepth = 2325.655392; finalDepth = 2328.452130; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.9020169999999 # Actual altitude: 57.9020169999999 # Commanded vehicle depth: 2328.45213 # Seafloor depth: -2386.354147 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.084392 meters # Minimum depth: 2375.655392 meters looking forward 200.000000 meters along route # Maximum depth: 2383.630306 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2325.655392 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.515142; longitude = -130.007388; duration = 400; initialDepth = 2325.655392; finalDepth = 2325.655392; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.9020169999999 # Actual altitude: 57.9020169999999 # Commanded vehicle depth: 2325.655392 # Seafloor depth: -2382.991420 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 102.513849 meters # Minimum depth: 2375.655392 meters looking forward 200.000000 meters along route # Maximum depth: 2382.604637 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2325.655392 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.514244; longitude = -130.007484; duration = 410; initialDepth = 2326.918165; finalDepth = 2325.655392; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 57.3360279999997 # Actual altitude: 57.3360279999997 # Commanded vehicle depth: 2325.655392 # Seafloor depth: -2379.091553 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 149.982835 meters # Minimum depth: 2376.918165 meters looking forward 200.000000 meters along route # Maximum depth: 2381.057810 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2326.918165 meters set by local depth and desired altitude # Vehicle transit speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.513324; longitude = -130.007582; duration = 599; # abortOnTimeout = True; initialDepth = 2328.951776; finalDepth = 2326.918165; speed = 1.500000; } ####################################################### # Acoustic update 6 - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 53.4361610000001 # Actual altitude: 53.4361610000001 # Commanded vehicle depth: 2326.918165 # Seafloor depth: -2378.443848 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 150.170885 meters # Minimum depth: 2378.951776 meters looking forward 200.000000 meters along route # Maximum depth: 2382.325314 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2328.951776 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.513217; longitude = -130.005668; duration = 600; # abortOnTimeout = True; initialDepth = 2328.780921; finalDepth = 2328.951776; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4784 # Actual altitude: 52.4784 # Commanded vehicle depth: 2328.951776 # Seafloor depth: -2381.430176 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.078291 meters # Minimum depth: 2378.780921 meters looking forward 200.000000 meters along route # Maximum depth: 2381.558243 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2328.780921 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.514565; longitude = -130.005526; duration = 400; initialDepth = 2326.740455; finalDepth = 2328.780921; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4784 # Actual altitude: 52.4784 # Commanded vehicle depth: 2328.780921 # Seafloor depth: -2380.906910 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 100.078296 meters # Minimum depth: 2376.740455 meters looking forward 200.000000 meters along route # Maximum depth: 2380.495761 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2326.740455 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.515463; longitude = -130.005431; duration = 400; initialDepth = 2326.740455; finalDepth = 2326.740455; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1259890000001 # Actual altitude: 52.1259890000001 # Commanded vehicle depth: 2326.740455 # Seafloor depth: -2378.347636 # 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 14 # Segment length 100.078302 meters # Minimum depth: 2376.740455 meters looking forward 200.000000 meters along route # Maximum depth: 2382.852428 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2326.740455 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.516361; longitude = -130.005336; duration = 400; initialDepth = 2330.216391; finalDepth = 2326.740455; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0363319999997 # Actual altitude: 53.0363319999997 # Commanded vehicle depth: 2326.740455 # Seafloor depth: -2379.776787 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 100.078307 meters # Minimum depth: 2380.216391 meters looking forward 200.000000 meters along route # Maximum depth: 2383.164001 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2330.216391 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.517260; longitude = -130.005241; duration = 400; initialDepth = 2331.292309; finalDepth = 2330.216391; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0363319999997 # Actual altitude: 53.0363319999997 # Commanded vehicle depth: 2330.216391 # Seafloor depth: -2382.250655 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 100.078313 meters # Minimum depth: 2381.292309 meters looking forward 200.000000 meters along route # Maximum depth: 2389.249065 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2331.292309 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.518158; longitude = -130.005146; duration = 400; initialDepth = 2331.628701; finalDepth = 2331.292309; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0342639999999 # Actual altitude: 52.0342639999999 # Commanded vehicle depth: 2331.292309 # Seafloor depth: -2381.494226 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 100.078318 meters # Minimum depth: 2381.628701 meters looking forward 200.000000 meters along route # Maximum depth: 2392.202405 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2331.628701 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.519056; longitude = -130.005051; duration = 400; initialDepth = 2340.068754; finalDepth = 2331.628701; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.1204680000001 # Actual altitude: 58.1204680000001 # Commanded vehicle depth: 2331.628701 # Seafloor depth: -2389.749169 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 100.078323 meters # Minimum depth: 2390.068754 meters looking forward 200.000000 meters along route # Maximum depth: 2393.484168 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2340.068754 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.519955; longitude = -130.004956; duration = 400; initialDepth = 2339.974548; finalDepth = 2340.068754; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.1204680000001 # Actual altitude: 58.1204680000001 # Commanded vehicle depth: 2340.068754 # Seafloor depth: -2392.759065 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 100.078328 meters # Minimum depth: 2389.974548 meters looking forward 200.000000 meters along route # Maximum depth: 2394.075815 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2339.974548 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.520853; longitude = -130.004862; duration = 400; initialDepth = 2340.056881; finalDepth = 2339.974548; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6903110000003 # Actual altitude: 52.6903110000003 # Commanded vehicle depth: 2339.974548 # Seafloor depth: -2389.974548 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 100.078334 meters # Minimum depth: 2390.056881 meters looking forward 200.000000 meters along route # Maximum depth: 2402.498426 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2340.056881 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.521751; longitude = -130.004767; duration = 400; initialDepth = 2339.358001; finalDepth = 2340.056881; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.971755 # Actual altitude: 54.971755 # Commanded vehicle depth: 2340.056881 # Seafloor depth: -2395.028636 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 100.078339 meters # Minimum depth: 2389.358001 meters looking forward 200.000000 meters along route # Maximum depth: 2402.498426 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2339.358001 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.522649; longitude = -130.004672; duration = 400; initialDepth = 2339.358001; finalDepth = 2339.358001; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.937508 # Actual altitude: 57.937508 # Commanded vehicle depth: 2339.358001 # Seafloor depth: -2397.295509 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 100.078345 meters # Minimum depth: 2389.358001 meters looking forward 200.000000 meters along route # Maximum depth: 2395.512832 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2339.358001 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.523548; longitude = -130.004577; duration = 400; initialDepth = 2340.402439; finalDepth = 2339.358001; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.937508 # Actual altitude: 57.937508 # Commanded vehicle depth: 2339.358001 # Seafloor depth: -2390.105963 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 100.078350 meters # Minimum depth: 2390.402439 meters looking forward 200.000000 meters along route # Maximum depth: 2397.590526 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2340.402439 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.524446; longitude = -130.004482; duration = 400; initialDepth = 2344.156838; finalDepth = 2340.402439; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7407750000002 # Actual altitude: 53.7407750000002 # Commanded vehicle depth: 2340.402439 # Seafloor depth: -2394.143214 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 100.078355 meters # Minimum depth: 2394.156838 meters looking forward 200.000000 meters along route # Maximum depth: 2401.730833 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2344.156838 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.525344; longitude = -130.004387; duration = 400; initialDepth = 2346.363132; finalDepth = 2344.156838; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7407750000002 # Actual altitude: 53.7407750000002 # Commanded vehicle depth: 2344.156838 # Seafloor depth: -2396.741993 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 100.078360 meters # Minimum depth: 2396.363132 meters looking forward 200.000000 meters along route # Maximum depth: 2404.696792 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2346.363132 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.526242; longitude = -130.004292; duration = 400; initialDepth = 2351.866964; finalDepth = 2346.363132; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.8760860000002 # Actual altitude: 55.8760860000002 # Commanded vehicle depth: 2346.363132 # Seafloor depth: -2402.239218 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 100.078366 meters # Minimum depth: 2401.866964 meters looking forward 200.000000 meters along route # Maximum depth: 2404.696792 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2351.866964 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.527141; longitude = -130.004198; duration = 400; initialDepth = 2351.866964; finalDepth = 2351.866964; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.8760860000002 # Actual altitude: 55.8760860000002 # Commanded vehicle depth: 2351.866964 # Seafloor depth: -2403.795234 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 100.078371 meters # Minimum depth: 2401.866964 meters looking forward 200.000000 meters along route # Maximum depth: 2406.777199 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2351.866964 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.528039; longitude = -130.004103; duration = 400; initialDepth = 2349.016464; finalDepth = 2351.866964; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9282700000003 # Actual altitude: 51.9282700000003 # Commanded vehicle depth: 2351.866964 # Seafloor depth: -2402.788408 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 100.078376 meters # Minimum depth: 2399.016464 meters looking forward 200.000000 meters along route # Maximum depth: 2406.777199 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2349.016464 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.528937; longitude = -130.004008; duration = 400; initialDepth = 2340.848986; finalDepth = 2349.016464; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.3426610000001 # Actual altitude: 54.3426610000001 # Commanded vehicle depth: 2349.016464 # Seafloor depth: -2403.359125 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 100.078382 meters # Minimum depth: 2390.848986 meters looking forward 200.000000 meters along route # Maximum depth: 2403.736091 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2340.848986 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.529836; longitude = -130.003913; duration = 400; initialDepth = 2339.856800; finalDepth = 2340.848986; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.7927949999998 # Actual altitude: 57.7927949999998 # Commanded vehicle depth: 2340.848986 # Seafloor depth: -2398.641781 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 100.078387 meters # Minimum depth: 2389.856800 meters looking forward 200.000000 meters along route # Maximum depth: 2398.303532 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2339.856800 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.530734; longitude = -130.003818; duration = 400; initialDepth = 2339.856800; finalDepth = 2339.856800; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.7927949999998 # Actual altitude: 57.7927949999998 # Commanded vehicle depth: 2339.8568 # Seafloor depth: -2391.518239 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 100.078392 meters # Minimum depth: 2389.856800 meters looking forward 200.000000 meters along route # Maximum depth: 2396.615103 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2339.856800 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.531632; longitude = -130.003723; duration = 400; initialDepth = 2337.540710; finalDepth = 2339.856800; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.661439 # Actual altitude: 51.661439 # Commanded vehicle depth: 2339.8568 # Seafloor depth: -2390.353812 # 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 14 # Segment length 100.078398 meters # Minimum depth: 2387.540710 meters looking forward 200.000000 meters along route # Maximum depth: 2391.848030 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2337.540710 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.532530; longitude = -130.003628; duration = 400; initialDepth = 2337.540710; finalDepth = 2337.540710; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9766799999998 # Actual altitude: 52.9766799999998 # Commanded vehicle depth: 2337.54071 # Seafloor depth: -2390.517390 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 100.078403 meters # Minimum depth: 2387.540710 meters looking forward 200.000000 meters along route # Maximum depth: 2391.848030 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2337.540710 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.533429; longitude = -130.003534; duration = 400; initialDepth = 2338.432065; finalDepth = 2337.540710; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9766799999998 # Actual altitude: 52.9766799999998 # Commanded vehicle depth: 2337.54071 # Seafloor depth: -2388.512758 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 100.078408 meters # Minimum depth: 2388.432065 meters looking forward 200.000000 meters along route # Maximum depth: 2390.769269 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2338.432065 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.534327; longitude = -130.003439; duration = 400; initialDepth = 2338.432065; finalDepth = 2338.432065; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9720479999996 # Actual altitude: 50.9720479999996 # Commanded vehicle depth: 2338.432065 # Seafloor depth: -2389.280025 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 100.078413 meters # Minimum depth: 2388.432065 meters looking forward 200.000000 meters along route # Maximum depth: 2390.769269 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2338.432065 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.535225; longitude = -130.003344; duration = 400; initialDepth = 2338.665642; finalDepth = 2338.432065; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6211189999999 # Actual altitude: 51.6211189999999 # Commanded vehicle depth: 2338.432065 # Seafloor depth: -2390.053184 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 100.078419 meters # Minimum depth: 2388.665642 meters looking forward 200.000000 meters along route # Maximum depth: 2391.596541 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2338.665642 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.536124; longitude = -130.003249; duration = 400; initialDepth = 2335.624229; finalDepth = 2338.665642; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3300490000001 # Actual altitude: 52.3300490000001 # Commanded vehicle depth: 2338.665642 # Seafloor depth: -2390.995691 # 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 14 # Segment length 100.078425 meters # Minimum depth: 2385.624229 meters looking forward 200.000000 meters along route # Maximum depth: 2391.596541 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2335.624229 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.537022; longitude = -130.003154; duration = 400; initialDepth = 2335.624229; finalDepth = 2335.624229; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.3840639999999 # Actual altitude: 55.3840639999999 # Commanded vehicle depth: 2335.624229 # Seafloor depth: -2391.008293 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 100.078429 meters # Minimum depth: 2385.624229 meters looking forward 200.000000 meters along route # Maximum depth: 2390.971087 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2335.624229 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.537920; longitude = -130.003059; duration = 400; initialDepth = 2336.282843; finalDepth = 2335.624229; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.3840639999999 # Actual altitude: 55.3840639999999 # Commanded vehicle depth: 2335.624229 # Seafloor depth: -2388.882369 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 100.078435 meters # Minimum depth: 2386.282843 meters looking forward 200.000000 meters along route # Maximum depth: 2391.098160 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2336.282843 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.538818; longitude = -130.002964; duration = 400; initialDepth = 2337.684448; finalDepth = 2336.282843; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8153170000001 # Actual altitude: 54.8153170000001 # Commanded vehicle depth: 2336.282843 # Seafloor depth: -2391.098160 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 104.844080 meters # Minimum depth: 2387.684448 meters looking forward 200.000000 meters along route # Maximum depth: 2390.816384 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2337.684448 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.539717; longitude = -130.002870; duration = 419; initialDepth = 2338.588217; finalDepth = 2337.684448; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.8153170000001 # Actual altitude: 54.8153170000001 # Commanded vehicle depth: 2337.684448 # Seafloor depth: -2388.478068 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 145.975955 meters # Minimum depth: 2388.588217 meters looking forward 200.000000 meters along route # Maximum depth: 2391.279297 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2338.588217 meters set by local depth and desired altitude # Vehicle transit speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.540658; longitude = -130.002770; duration = 583; # abortOnTimeout = True; initialDepth = 2338.512591; finalDepth = 2338.588217; speed = 1.500000; } ####################################################### # Acoustic update 6 - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 52.6910800000001 # Actual altitude: 52.6910800000001 # Commanded vehicle depth: 2338.588217 # Seafloor depth: -2391.279297 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 147.720660 meters # Minimum depth: 2388.512591 meters looking forward 200.000000 meters along route # Maximum depth: 2391.112473 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2338.512591 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.540529; longitude = -130.000909; duration = 590; # abortOnTimeout = True; initialDepth = 2338.512591; finalDepth = 2338.512591; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6910800000001 # Actual altitude: 52.6910800000001 # Commanded vehicle depth: 2338.512591 # Seafloor depth: -2389.769531 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 100.068827 meters # Minimum depth: 2388.512591 meters looking forward 200.000000 meters along route # Maximum depth: 2391.234986 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2338.512591 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.539203; longitude = -130.001047; duration = 400; initialDepth = 2337.992998; finalDepth = 2338.512591; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2569399999998 # Actual altitude: 51.2569399999998 # Commanded vehicle depth: 2338.512591 # Seafloor depth: -2388.809079 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.068821 meters # Minimum depth: 2387.992998 meters looking forward 200.000000 meters along route # Maximum depth: 2391.234986 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2337.992998 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.538305; longitude = -130.001140; duration = 400; initialDepth = 2337.992998; finalDepth = 2337.992998; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.726377 # Actual altitude: 52.726377 # Commanded vehicle depth: 2337.992998 # Seafloor depth: -2390.719375 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.068816 meters # Minimum depth: 2387.992998 meters looking forward 200.000000 meters along route # Maximum depth: 2391.835364 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2337.992998 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.537407; longitude = -130.001233; duration = 400; initialDepth = 2338.345943; finalDepth = 2337.992998; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.726377 # Actual altitude: 52.726377 # Commanded vehicle depth: 2337.992998 # Seafloor depth: -2388.730830 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.068810 meters # Minimum depth: 2388.345943 meters looking forward 200.000000 meters along route # Maximum depth: 2391.835364 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2338.345943 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.536508; longitude = -130.001327; duration = 400; initialDepth = 2337.697450; finalDepth = 2338.345943; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8186700000001 # Actual altitude: 51.8186700000001 # Commanded vehicle depth: 2338.345943 # Seafloor depth: -2390.164613 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.068805 meters # Minimum depth: 2387.697450 meters looking forward 200.000000 meters along route # Maximum depth: 2391.361570 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2337.697450 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.535610; longitude = -130.001420; duration = 400; initialDepth = 2337.697450; finalDepth = 2337.697450; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8186700000001 # Actual altitude: 51.8186700000001 # Commanded vehicle depth: 2337.69745 # Seafloor depth: -2388.182655 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.068798 meters # Minimum depth: 2387.697450 meters looking forward 200.000000 meters along route # Maximum depth: 2394.858673 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2337.697450 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.534712; longitude = -130.001513; duration = 400; initialDepth = 2338.924105; finalDepth = 2337.697450; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.0994369999999 # Actual altitude: 55.0994369999999 # Commanded vehicle depth: 2337.69745 # Seafloor depth: -2392.796887 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.068794 meters # Minimum depth: 2388.924105 meters looking forward 200.000000 meters along route # Maximum depth: 2394.858673 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2338.924105 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.533814; longitude = -130.001606; duration = 400; initialDepth = 2338.924105; finalDepth = 2338.924105; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.0994369999999 # Actual altitude: 55.0994369999999 # Commanded vehicle depth: 2338.924105 # Seafloor depth: -2391.504265 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.068787 meters # Minimum depth: 2388.924105 meters looking forward 200.000000 meters along route # Maximum depth: 2400.082902 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2338.924105 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.532915; longitude = -130.001699; duration = 400; initialDepth = 2345.525284; finalDepth = 2338.924105; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.6951589999999 # Actual altitude: 55.6951589999999 # Commanded vehicle depth: 2338.924105 # Seafloor depth: -2394.619264 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.068782 meters # Minimum depth: 2395.525284 meters looking forward 200.000000 meters along route # Maximum depth: 2406.941135 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2345.525284 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.532017; longitude = -130.001793; duration = 400; initialDepth = 2350.956973; finalDepth = 2345.525284; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.6951589999999 # Actual altitude: 55.6951589999999 # Commanded vehicle depth: 2345.525284 # Seafloor depth: -2400.423995 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.068776 meters # Minimum depth: 2400.956973 meters looking forward 200.000000 meters along route # Maximum depth: 2408.480598 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2350.956973 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.531119; longitude = -130.001886; duration = 400; initialDepth = 2357.020705; finalDepth = 2350.956973; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.3656430000001 # Actual altitude: 56.3656430000001 # Commanded vehicle depth: 2350.956973 # Seafloor depth: -2407.322616 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.068771 meters # Minimum depth: 2407.020705 meters looking forward 200.000000 meters along route # Maximum depth: 2411.081301 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2357.020705 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.530221; longitude = -130.001979; duration = 400; initialDepth = 2352.891134; finalDepth = 2357.020705; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.3656430000001 # Actual altitude: 56.3656430000001 # Commanded vehicle depth: 2357.020705 # Seafloor depth: -2407.598514 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.068765 meters # Minimum depth: 2402.891134 meters looking forward 200.000000 meters along route # Maximum depth: 2411.081301 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2352.891134 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.529322; longitude = -130.002072; duration = 400; initialDepth = 2347.327872; finalDepth = 2352.891134; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.655647 # Actual altitude: 53.655647 # Commanded vehicle depth: 2352.891134 # Seafloor depth: -2406.546781 # 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 12 # Segment length 100.068759 meters # Minimum depth: 2397.327872 meters looking forward 200.000000 meters along route # Maximum depth: 2406.184660 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2347.327872 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.528424; longitude = -130.002165; duration = 400; initialDepth = 2347.205252; finalDepth = 2347.327872; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.1501090000002 # Actual altitude: 55.1501090000002 # Commanded vehicle depth: 2347.327872 # Seafloor depth: -2402.477981 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.068753 meters # Minimum depth: 2397.205252 meters looking forward 200.000000 meters along route # Maximum depth: 2402.112406 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2347.205252 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.527526; longitude = -130.002258; duration = 400; initialDepth = 2344.009792; finalDepth = 2347.205252; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.1501090000002 # Actual altitude: 55.1501090000002 # Commanded vehicle depth: 2347.205252 # Seafloor depth: -2397.205252 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.068748 meters # Minimum depth: 2394.009792 meters looking forward 200.000000 meters along route # Maximum depth: 2400.196434 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2344.009792 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.526627; longitude = -130.002352; duration = 400; initialDepth = 2342.646002; finalDepth = 2344.009792; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.3042210000003 # Actual altitude: 54.3042210000003 # Commanded vehicle depth: 2344.009792 # Seafloor depth: -2398.314013 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.068742 meters # Minimum depth: 2392.646002 meters looking forward 200.000000 meters along route # Maximum depth: 2398.132471 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2342.646002 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.525729; longitude = -130.002445; duration = 400; initialDepth = 2340.300534; finalDepth = 2342.646002; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.3042210000003 # Actual altitude: 54.3042210000003 # Commanded vehicle depth: 2342.646002 # Seafloor depth: -2394.126343 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.068737 meters # Minimum depth: 2390.300534 meters looking forward 200.000000 meters along route # Maximum depth: 2393.493817 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2340.300534 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.524831; longitude = -130.002538; duration = 400; initialDepth = 2337.782997; finalDepth = 2340.300534; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2310729999999 # Actual altitude: 52.2310729999999 # Commanded vehicle depth: 2340.300534 # Seafloor depth: -2392.531607 # 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 12 # Segment length 100.068731 meters # Minimum depth: 2387.782997 meters looking forward 200.000000 meters along route # Maximum depth: 2393.366842 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2337.782997 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.523933; longitude = -130.002631; duration = 400; initialDepth = 2336.769024; finalDepth = 2337.782997; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2310729999999 # Actual altitude: 52.2310729999999 # Commanded vehicle depth: 2337.782997 # Seafloor depth: -2390.012543 # 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 12 # Segment length 100.068725 meters # Minimum depth: 2386.769024 meters looking forward 200.000000 meters along route # Maximum depth: 2391.829752 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2336.769024 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.523034; longitude = -130.002724; duration = 400; initialDepth = 2336.769024; finalDepth = 2336.769024; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.229546 # Actual altitude: 52.229546 # Commanded vehicle depth: 2336.769024 # Seafloor depth: -2387.764303 # 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 12 # Segment length 100.068720 meters # Minimum depth: 2386.769024 meters looking forward 200.000000 meters along route # Maximum depth: 2392.028986 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2336.769024 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.522136; longitude = -130.002818; duration = 400; initialDepth = 2337.560691; finalDepth = 2336.769024; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.227038 # Actual altitude: 52.227038 # Commanded vehicle depth: 2336.769024 # Seafloor depth: -2388.996062 # 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 12 # Segment length 100.068714 meters # Minimum depth: 2387.560691 meters looking forward 200.000000 meters along route # Maximum depth: 2392.701806 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2337.560691 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.521238; longitude = -130.002911; duration = 400; initialDepth = 2337.393153; finalDepth = 2337.560691; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.1411149999999 # Actual altitude: 55.1411149999999 # Commanded vehicle depth: 2337.560691 # Seafloor depth: -2392.701806 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.068708 meters # Minimum depth: 2387.393153 meters looking forward 200.000000 meters along route # Maximum depth: 2392.259057 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2337.393153 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.520340; longitude = -130.003004; duration = 400; initialDepth = 2335.873013; finalDepth = 2337.393153; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.1411149999999 # Actual altitude: 55.1411149999999 # Commanded vehicle depth: 2337.393153 # Seafloor depth: -2390.641582 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.068703 meters # Minimum depth: 2385.873013 meters looking forward 200.000000 meters along route # Maximum depth: 2390.918601 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2335.873013 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.519441; longitude = -130.003097; duration = 400; initialDepth = 2331.978957; finalDepth = 2335.873013; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2484290000002 # Actual altitude: 53.2484290000002 # Commanded vehicle depth: 2335.873013 # Seafloor depth: -2388.230663 # 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 12 # Segment length 100.068697 meters # Minimum depth: 2381.978957 meters looking forward 200.000000 meters along route # Maximum depth: 2388.342933 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2331.978957 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.518543; longitude = -130.003190; duration = 400; initialDepth = 2330.279373; finalDepth = 2331.978957; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.1652870000003 # Actual altitude: 55.1652870000003 # Commanded vehicle depth: 2331.978957 # Seafloor depth: -2387.144244 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.068691 meters # Minimum depth: 2380.279373 meters looking forward 200.000000 meters along route # Maximum depth: 2388.342933 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2330.279373 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.517645; longitude = -130.003284; duration = 400; initialDepth = 2329.334205; finalDepth = 2330.279373; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.1652870000003 # Actual altitude: 55.1652870000003 # Commanded vehicle depth: 2330.279373 # Seafloor depth: -2381.510289 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.068686 meters # Minimum depth: 2379.334205 meters looking forward 200.000000 meters along route # Maximum depth: 2383.048318 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2329.334205 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.516746; longitude = -130.003377; duration = 400; initialDepth = 2329.334205; finalDepth = 2329.334205; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2287040000001 # Actual altitude: 52.2287040000001 # Commanded vehicle depth: 2329.334205 # Seafloor depth: -2381.562909 # 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 12 # Segment length 100.068680 meters # Minimum depth: 2379.334205 meters looking forward 200.000000 meters along route # Maximum depth: 2383.460092 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2329.334205 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.515848; longitude = -130.003470; duration = 400; initialDepth = 2329.495565; finalDepth = 2329.334205; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2287040000001 # Actual altitude: 52.2287040000001 # Commanded vehicle depth: 2329.334205 # Seafloor depth: -2379.823322 # 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 12 # Segment length 100.068675 meters # Minimum depth: 2379.495565 meters looking forward 200.000000 meters along route # Maximum depth: 2383.460092 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2329.495565 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.514950; longitude = -130.003563; duration = 400; initialDepth = 2328.098230; finalDepth = 2329.495565; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3868709999997 # Actual altitude: 51.3868709999997 # Commanded vehicle depth: 2329.495565 # Seafloor depth: -2380.882436 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 104.894253 meters # Minimum depth: 2378.098230 meters looking forward 200.000000 meters along route # Maximum depth: 2381.619274 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2328.098230 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.514052; longitude = -130.003656; duration = 419; initialDepth = 2319.298919; finalDepth = 2328.098230; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.5210440000001 # Actual altitude: 53.5210440000001 # Commanded vehicle depth: 2328.09823 # Seafloor depth: -2381.619274 # 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; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 149.992163 meters # Minimum depth: 2369.298919 meters looking forward 200.000000 meters along route # Maximum depth: 2381.298270 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2319.298919 meters set by local depth and desired altitude # Vehicle transit speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.513110; longitude = -130.003754; duration = 599; # abortOnTimeout = True; initialDepth = 2319.298919; finalDepth = 2319.298919; speed = 1.500000; } ####################################################### # Acoustic update 6 - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 60.613679 # Actual altitude: 60.613679 # Commanded vehicle depth: 2319.298919 # Seafloor depth: -2379.912598 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 138.357390 meters # Minimum depth: 2369.298919 meters looking forward 200.000000 meters along route # Maximum depth: 2383.648477 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2319.298919 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.513002; longitude = -130.001840; duration = 553; # abortOnTimeout = True; initialDepth = 2325.463480; finalDepth = 2319.298919; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.613679 # Actual altitude: 60.613679 # Commanded vehicle depth: 2319.298919 # Seafloor depth: -2371.070007 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 100.060398 meters # Minimum depth: 2375.463480 meters looking forward 200.000000 meters along route # Maximum depth: 2386.532857 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2325.463480 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.514244; longitude = -130.001713; duration = 400; initialDepth = 2328.992418; finalDepth = 2325.463480; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.0853040000002 # Actual altitude: 55.0853040000002 # Commanded vehicle depth: 2325.46348 # Seafloor depth: -2380.548784 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.060405 meters # Minimum depth: 2378.992418 meters looking forward 200.000000 meters along route # Maximum depth: 2386.532857 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2328.992418 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.515142; longitude = -130.001621; duration = 400; initialDepth = 2328.992418; finalDepth = 2328.992418; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.0853040000002 # Actual altitude: 55.0853040000002 # Commanded vehicle depth: 2328.992418 # Seafloor depth: -2382.846994 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.060410 meters # Minimum depth: 2378.992418 meters looking forward 200.000000 meters along route # Maximum depth: 2385.343372 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2328.992418 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.516041; longitude = -130.001530; duration = 400; initialDepth = 2329.988218; finalDepth = 2328.992418; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.8545760000002 # Actual altitude: 53.8545760000002 # Commanded vehicle depth: 2328.992418 # Seafloor depth: -2380.472669 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.060416 meters # Minimum depth: 2379.988218 meters looking forward 200.000000 meters along route # Maximum depth: 2382.779699 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2329.988218 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.516939; longitude = -130.001438; duration = 400; initialDepth = 2329.988218; finalDepth = 2329.988218; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4802510000004 # Actual altitude: 51.4802510000004 # Commanded vehicle depth: 2329.988218 # Seafloor depth: -2381.092163 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.060422 meters # Minimum depth: 2379.988218 meters looking forward 200.000000 meters along route # Maximum depth: 2382.645418 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2329.988218 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.517837; longitude = -130.001346; duration = 400; initialDepth = 2330.363601; finalDepth = 2329.988218; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8017399999999 # Actual altitude: 51.8017399999999 # Commanded vehicle depth: 2329.988218 # Seafloor depth: -2381.789958 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.060428 meters # Minimum depth: 2380.363601 meters looking forward 200.000000 meters along route # Maximum depth: 2386.686887 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2330.363601 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.518735; longitude = -130.001255; duration = 400; initialDepth = 2331.674095; finalDepth = 2330.363601; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8017399999999 # Actual altitude: 51.8017399999999 # Commanded vehicle depth: 2330.363601 # Seafloor depth: -2380.363601 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.060434 meters # Minimum depth: 2381.674095 meters looking forward 200.000000 meters along route # Maximum depth: 2391.199506 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2331.674095 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.519634; longitude = -130.001163; duration = 400; initialDepth = 2337.486881; finalDepth = 2331.674095; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.4064370000001 # Actual altitude: 55.4064370000001 # Commanded vehicle depth: 2331.674095 # Seafloor depth: -2387.080532 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.060440 meters # Minimum depth: 2387.486881 meters looking forward 200.000000 meters along route # Maximum depth: 2391.199506 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2337.486881 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.520532; longitude = -130.001071; duration = 400; initialDepth = 2338.703626; finalDepth = 2337.486881; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.4064370000001 # Actual altitude: 55.4064370000001 # Commanded vehicle depth: 2337.486881 # Seafloor depth: -2390.681167 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.060446 meters # Minimum depth: 2388.703626 meters looking forward 200.000000 meters along route # Maximum depth: 2390.170423 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2338.703626 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.521430; longitude = -130.000979; duration = 400; initialDepth = 2338.472732; finalDepth = 2338.703626; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1942860000004 # Actual altitude: 53.1942860000004 # Commanded vehicle depth: 2338.703626 # Seafloor depth: -2388.781715 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.060452 meters # Minimum depth: 2388.472732 meters looking forward 200.000000 meters along route # Maximum depth: 2389.899855 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2338.472732 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.522329; longitude = -130.000888; duration = 400; initialDepth = 2338.472732; finalDepth = 2338.472732; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2295819999999 # Actual altitude: 50.2295819999999 # Commanded vehicle depth: 2338.472732 # Seafloor depth: -2388.702314 # 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 10 # Segment length 100.060458 meters # Minimum depth: 2388.472732 meters looking forward 200.000000 meters along route # Maximum depth: 2394.060418 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2338.472732 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.523227; longitude = -130.000796; duration = 400; initialDepth = 2339.000646; finalDepth = 2338.472732; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0660699999999 # Actual altitude: 52.0660699999999 # Commanded vehicle depth: 2338.472732 # Seafloor depth: -2390.538802 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.060464 meters # Minimum depth: 2389.000646 meters looking forward 200.000000 meters along route # Maximum depth: 2396.278861 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2339.000646 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.524125; longitude = -130.000704; duration = 400; initialDepth = 2338.354621; finalDepth = 2339.000646; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0660699999999 # Actual altitude: 52.0660699999999 # Commanded vehicle depth: 2339.000646 # Seafloor depth: -2390.187051 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.060469 meters # Minimum depth: 2388.354621 meters looking forward 200.000000 meters along route # Maximum depth: 2396.278861 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2338.354621 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.525023; longitude = -130.000612; duration = 400; initialDepth = 2338.354621; finalDepth = 2338.354621; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1864049999999 # Actual altitude: 51.1864049999999 # Commanded vehicle depth: 2338.354621 # Seafloor depth: -2389.220703 # 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 10 # Segment length 100.060476 meters # Minimum depth: 2388.354621 meters looking forward 200.000000 meters along route # Maximum depth: 2393.609589 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2338.354621 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.525922; longitude = -130.000521; duration = 400; initialDepth = 2340.935346; finalDepth = 2338.354621; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1988019999999 # Actual altitude: 52.1988019999999 # Commanded vehicle depth: 2338.354621 # Seafloor depth: -2390.553423 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.060482 meters # Minimum depth: 2390.935346 meters looking forward 200.000000 meters along route # Maximum depth: 2394.444457 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2340.935346 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.526820; longitude = -130.000429; duration = 400; initialDepth = 2341.329277; finalDepth = 2340.935346; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6791949999997 # Actual altitude: 52.6791949999997 # Commanded vehicle depth: 2340.935346 # Seafloor depth: -2393.614541 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.060487 meters # Minimum depth: 2391.329277 meters looking forward 200.000000 meters along route # Maximum depth: 2402.406602 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2341.329277 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.527718; longitude = -130.000337; duration = 400; initialDepth = 2344.000810; finalDepth = 2341.329277; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7369210000002 # Actual altitude: 52.7369210000002 # Commanded vehicle depth: 2341.329277 # Seafloor depth: -2394.066198 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.060494 meters # Minimum depth: 2394.000810 meters looking forward 200.000000 meters along route # Maximum depth: 2415.393100 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2344.000810 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.528616; longitude = -130.000246; duration = 400; initialDepth = 2351.396108; finalDepth = 2344.000810; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.450934 # Actual altitude: 58.450934 # Commanded vehicle depth: 2344.00081 # Seafloor depth: -2402.451744 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.060499 meters # Minimum depth: 2401.396108 meters looking forward 200.000000 meters along route # Maximum depth: 2420.151080 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2351.396108 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.529515; longitude = -130.000154; duration = 400; initialDepth = 2365.964709; finalDepth = 2351.396108; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.9122419999999 # Actual altitude: 65.9122419999999 # Commanded vehicle depth: 2351.396108 # Seafloor depth: -2417.308350 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.060505 meters # Minimum depth: 2415.964709 meters looking forward 200.000000 meters along route # Maximum depth: 2420.151080 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2365.964709 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.530413; longitude = -130.000062; duration = 400; initialDepth = 2365.964709; finalDepth = 2365.964709; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.9122419999999 # Actual altitude: 65.9122419999999 # Commanded vehicle depth: 2365.964709 # Seafloor depth: -2416.608659 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.060512 meters # Minimum depth: 2415.964709 meters looking forward 200.000000 meters along route # Maximum depth: 2419.992499 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2365.964709 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.531311; longitude = -129.999970; duration = 400; initialDepth = 2361.059793; finalDepth = 2365.964709; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.9803919999999 # Actual altitude: 53.9803919999999 # Commanded vehicle depth: 2365.964709 # Seafloor depth: -2419.945101 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.060517 meters # Minimum depth: 2411.059793 meters looking forward 200.000000 meters along route # Maximum depth: 2419.830921 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2361.059793 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.532210; longitude = -129.999879; duration = 400; initialDepth = 2350.315388; finalDepth = 2361.059793; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.971415 # Actual altitude: 56.971415 # Commanded vehicle depth: 2361.059793 # Seafloor depth: -2418.031208 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.060523 meters # Minimum depth: 2400.315388 meters looking forward 200.000000 meters along route # Maximum depth: 2418.048438 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2350.315388 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.533108; longitude = -129.999787; duration = 400; initialDepth = 2345.943714; finalDepth = 2350.315388; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.7949669999998 # Actual altitude: 59.7949669999998 # Commanded vehicle depth: 2350.315388 # Seafloor depth: -2410.110355 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.060529 meters # Minimum depth: 2395.943714 meters looking forward 200.000000 meters along route # Maximum depth: 2409.188184 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2345.943714 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.534006; longitude = -129.999695; duration = 400; initialDepth = 2345.251200; finalDepth = 2345.943714; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.7949669999998 # Actual altitude: 59.7949669999998 # Commanded vehicle depth: 2345.943714 # Seafloor depth: -2400.269170 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.060535 meters # Minimum depth: 2395.251200 meters looking forward 200.000000 meters along route # Maximum depth: 2399.828652 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2345.251200 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.534904; longitude = -129.999603; duration = 400; initialDepth = 2339.110908; finalDepth = 2345.251200; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.325456 # Actual altitude: 54.325456 # Commanded vehicle depth: 2345.2512 # Seafloor depth: -2396.670995 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.060541 meters # Minimum depth: 2389.110908 meters looking forward 200.000000 meters along route # Maximum depth: 2397.843549 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2339.110908 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.535803; longitude = -129.999512; duration = 400; initialDepth = 2339.110908; finalDepth = 2339.110908; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.3045589999997 # Actual altitude: 55.3045589999997 # Commanded vehicle depth: 2339.110908 # Seafloor depth: -2394.415467 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.060547 meters # Minimum depth: 2389.110908 meters looking forward 200.000000 meters along route # Maximum depth: 2393.750268 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2339.110908 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.536701; longitude = -129.999420; duration = 400; initialDepth = 2340.124504; finalDepth = 2339.110908; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.3045589999997 # Actual altitude: 55.3045589999997 # Commanded vehicle depth: 2339.110908 # Seafloor depth: -2391.153138 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.060553 meters # Minimum depth: 2390.124504 meters looking forward 200.000000 meters along route # Maximum depth: 2392.838036 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2340.124504 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.537599; longitude = -129.999328; duration = 400; initialDepth = 2338.310931; finalDepth = 2340.124504; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.04223 # Actual altitude: 52.04223 # Commanded vehicle depth: 2340.124504 # Seafloor depth: -2390.195202 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.060559 meters # Minimum depth: 2388.310931 meters looking forward 200.000000 meters along route # Maximum depth: 2392.990771 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2338.310931 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.538498; longitude = -129.999237; duration = 400; initialDepth = 2338.310931; finalDepth = 2338.310931; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.233647 # Actual altitude: 54.233647 # Commanded vehicle depth: 2338.310931 # Seafloor depth: -2392.544578 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 104.825354 meters # Minimum depth: 2388.310931 meters looking forward 200.000000 meters along route # Maximum depth: 2392.990771 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2338.310931 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.539396; longitude = -129.999145; duration = 419; initialDepth = 2339.414348; finalDepth = 2338.310931; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.233647 # Actual altitude: 54.233647 # Commanded vehicle depth: 2338.310931 # Seafloor depth: -2389.217540 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 149.546487 meters # Minimum depth: 2389.414348 meters looking forward 200.000000 meters along route # Maximum depth: 2397.922281 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2339.414348 meters set by local depth and desired altitude # Vehicle transit speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.540337; longitude = -129.999049; duration = 598; # abortOnTimeout = True; initialDepth = 2341.118965; finalDepth = 2339.414348; speed = 1.500000; } ####################################################### # Acoustic update 6 - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50.90922 # Actual altitude: 50.90922 # Commanded vehicle depth: 2339.414348 # Seafloor depth: -2390.323568 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 138.177019 meters # Minimum depth: 2391.118965 meters looking forward 200.000000 meters along route # Maximum depth: 2398.120443 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2341.118965 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.540187; longitude = -129.997145; duration = 552; # abortOnTimeout = True; initialDepth = 2341.789810; finalDepth = 2341.118965; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.0014779999997 # Actual altitude: 57.0014779999997 # Commanded vehicle depth: 2341.118965 # Seafloor depth: -2398.120443 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 100.059214 meters # Minimum depth: 2391.789810 meters looking forward 200.000000 meters along route # Maximum depth: 2394.899443 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2341.789810 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.538947; longitude = -129.997272; duration = 400; initialDepth = 2340.814167; finalDepth = 2341.789810; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.0014779999997 # Actual altitude: 57.0014779999997 # Commanded vehicle depth: 2341.78981 # Seafloor depth: -2394.274611 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.059208 meters # Minimum depth: 2390.814167 meters looking forward 200.000000 meters along route # Maximum depth: 2397.818096 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2340.814167 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.538048; longitude = -129.997363; duration = 400; initialDepth = 2340.814167; finalDepth = 2340.814167; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4848009999996 # Actual altitude: 52.4848009999996 # Commanded vehicle depth: 2340.814167 # Seafloor depth: -2392.390581 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.059201 meters # Minimum depth: 2390.814167 meters looking forward 200.000000 meters along route # Maximum depth: 2398.288417 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2340.814167 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.537150; longitude = -129.997455; duration = 400; initialDepth = 2343.054900; finalDepth = 2340.814167; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.2020579999999 # Actual altitude: 57.2020579999999 # Commanded vehicle depth: 2340.814167 # Seafloor depth: -2398.016225 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.059196 meters # Minimum depth: 2393.054900 meters looking forward 200.000000 meters along route # Maximum depth: 2413.371544 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2343.054900 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.536252; longitude = -129.997546; duration = 400; initialDepth = 2348.564966; finalDepth = 2343.054900; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.2020579999999 # Actual altitude: 57.2020579999999 # Commanded vehicle depth: 2343.0549 # Seafloor depth: -2398.222590 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.059190 meters # Minimum depth: 2398.564966 meters looking forward 200.000000 meters along route # Maximum depth: 2421.701875 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2348.564966 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.535354; longitude = -129.997638; duration = 400; initialDepth = 2364.662714; finalDepth = 2348.564966; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.425268 # Actual altitude: 65.425268 # Commanded vehicle depth: 2348.564966 # Seafloor depth: -2413.990234 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.059183 meters # Minimum depth: 2414.662714 meters looking forward 200.000000 meters along route # Maximum depth: 2424.684129 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2364.662714 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.534455; longitude = -129.997729; duration = 400; initialDepth = 2372.052927; finalDepth = 2364.662714; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.425268 # Actual altitude: 65.425268 # Commanded vehicle depth: 2364.662714 # Seafloor depth: -2422.800433 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.059178 meters # Minimum depth: 2422.052927 meters looking forward 200.000000 meters along route # Maximum depth: 2427.327708 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2372.052927 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.533557; longitude = -129.997821; duration = 400; initialDepth = 2374.879622; finalDepth = 2372.052927; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.1377189999998 # Actual altitude: 58.1377189999998 # Commanded vehicle depth: 2372.052927 # Seafloor depth: -2424.908920 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.059171 meters # Minimum depth: 2424.879622 meters looking forward 200.000000 meters along route # Maximum depth: 2427.558698 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2374.879622 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.532659; longitude = -129.997912; duration = 400; initialDepth = 2373.463427; finalDepth = 2374.879622; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.8559929999997 # Actual altitude: 52.8559929999997 # Commanded vehicle depth: 2374.879622 # Seafloor depth: -2427.494280 # 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 8 # Segment length 100.059166 meters # Minimum depth: 2423.463427 meters looking forward 200.000000 meters along route # Maximum depth: 2427.558698 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2373.463427 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.531760; longitude = -129.998004; duration = 400; initialDepth = 2366.966567; finalDepth = 2373.463427; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2462959999998 # Actual altitude: 53.2462959999998 # Commanded vehicle depth: 2373.463427 # Seafloor depth: -2426.709723 # 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 8 # Segment length 100.059160 meters # Minimum depth: 2416.966567 meters looking forward 200.000000 meters along route # Maximum depth: 2426.230971 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2366.966567 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.530862; longitude = -129.998095; duration = 400; initialDepth = 2361.531518; finalDepth = 2366.966567; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.8150150000001 # Actual altitude: 55.8150150000001 # Commanded vehicle depth: 2366.966567 # Seafloor depth: -2422.781582 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.059153 meters # Minimum depth: 2411.531518 meters looking forward 200.000000 meters along route # Maximum depth: 2422.550635 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2361.531518 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.529964; longitude = -129.998187; duration = 400; initialDepth = 2352.351729; finalDepth = 2361.531518; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.3470490000004 # Actual altitude: 56.3470490000004 # Commanded vehicle depth: 2361.531518 # Seafloor depth: -2417.878567 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.059148 meters # Minimum depth: 2402.351729 meters looking forward 200.000000 meters along route # Maximum depth: 2419.949194 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2352.351729 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.529066; longitude = -129.998278; duration = 400; initialDepth = 2339.633974; finalDepth = 2352.351729; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.325081 # Actual altitude: 58.325081 # Commanded vehicle depth: 2352.351729 # Seafloor depth: -2410.676810 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.059142 meters # Minimum depth: 2389.633974 meters looking forward 200.000000 meters along route # Maximum depth: 2409.848293 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2339.633974 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.528167; longitude = -129.998370; duration = 400; initialDepth = 2339.633974; finalDepth = 2339.633974; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.5218950000003 # Actual altitude: 62.5218950000003 # Commanded vehicle depth: 2339.633974 # Seafloor depth: -2402.155869 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.059135 meters # Minimum depth: 2389.633974 meters looking forward 200.000000 meters along route # Maximum depth: 2400.862926 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2339.633974 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.527269; longitude = -129.998461; duration = 400; initialDepth = 2340.484666; finalDepth = 2339.633974; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.5218950000003 # Actual altitude: 62.5218950000003 # Commanded vehicle depth: 2339.633974 # Seafloor depth: -2390.805836 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.059130 meters # Minimum depth: 2390.484666 meters looking forward 200.000000 meters along route # Maximum depth: 2396.149755 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2340.484666 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.526371; longitude = -129.998552; duration = 400; initialDepth = 2340.342144; finalDepth = 2340.484666; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8383940000003 # Actual altitude: 54.8383940000003 # Commanded vehicle depth: 2340.484666 # Seafloor depth: -2395.323060 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.059124 meters # Minimum depth: 2390.342144 meters looking forward 200.000000 meters along route # Maximum depth: 2395.314609 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2340.342144 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.525473; longitude = -129.998644; duration = 400; initialDepth = 2337.811673; finalDepth = 2340.342144; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8383940000003 # Actual altitude: 54.8383940000003 # Commanded vehicle depth: 2340.342144 # Seafloor depth: -2391.111748 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.059118 meters # Minimum depth: 2387.811673 meters looking forward 200.000000 meters along route # Maximum depth: 2392.040334 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2337.811673 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.524574; longitude = -129.998735; duration = 400; initialDepth = 2337.361718; finalDepth = 2337.811673; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6565719999999 # Actual altitude: 53.6565719999999 # Commanded vehicle depth: 2337.811673 # Seafloor depth: -2391.468245 # 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 8 # Segment length 100.059111 meters # Minimum depth: 2387.361718 meters looking forward 200.000000 meters along route # Maximum depth: 2392.020054 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2337.361718 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.523676; longitude = -129.998827; duration = 400; initialDepth = 2337.043192; finalDepth = 2337.361718; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6565719999999 # Actual altitude: 53.6565719999999 # Commanded vehicle depth: 2337.361718 # Seafloor depth: -2387.361718 # 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 8 # Segment length 100.059106 meters # Minimum depth: 2387.043192 meters looking forward 200.000000 meters along route # Maximum depth: 2390.211109 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2337.043192 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.522778; longitude = -129.998918; duration = 400; initialDepth = 2337.043192; finalDepth = 2337.043192; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7623679999997 # Actual altitude: 52.7623679999997 # Commanded vehicle depth: 2337.043192 # Seafloor depth: -2389.805560 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.059100 meters # Minimum depth: 2387.043192 meters looking forward 200.000000 meters along route # Maximum depth: 2390.211109 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2337.043192 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.521879; longitude = -129.999010; duration = 400; initialDepth = 2336.316413; finalDepth = 2337.043192; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7623679999997 # Actual altitude: 52.7623679999997 # Commanded vehicle depth: 2337.043192 # Seafloor depth: -2388.264674 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.059093 meters # Minimum depth: 2386.316413 meters looking forward 200.000000 meters along route # Maximum depth: 2390.202404 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2336.316413 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.520981; longitude = -129.999101; duration = 400; initialDepth = 2335.668562; finalDepth = 2336.316413; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0273299999999 # Actual altitude: 53.0273299999999 # Commanded vehicle depth: 2336.316413 # Seafloor depth: -2389.343743 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.059088 meters # Minimum depth: 2385.668562 meters looking forward 200.000000 meters along route # Maximum depth: 2390.202404 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2335.668562 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.520083; longitude = -129.999193; duration = 400; initialDepth = 2333.247042; finalDepth = 2335.668562; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0273299999999 # Actual altitude: 53.0273299999999 # Commanded vehicle depth: 2335.668562 # Seafloor depth: -2387.188446 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.059082 meters # Minimum depth: 2383.247042 meters looking forward 200.000000 meters along route # Maximum depth: 2387.346775 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2333.247042 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.519185; longitude = -129.999284; duration = 400; initialDepth = 2333.247042; finalDepth = 2333.247042; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.376514 # Actual altitude: 53.376514 # Commanded vehicle depth: 2333.247042 # Seafloor depth: -2386.623556 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.059076 meters # Minimum depth: 2383.247042 meters looking forward 200.000000 meters along route # Maximum depth: 2390.020801 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2333.247042 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.518286; longitude = -129.999376; duration = 400; initialDepth = 2334.341175; finalDepth = 2333.247042; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.376514 # Actual altitude: 53.376514 # Commanded vehicle depth: 2333.247042 # Seafloor depth: -2385.400371 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.059070 meters # Minimum depth: 2384.341175 meters looking forward 200.000000 meters along route # Maximum depth: 2393.165792 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2334.341175 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.517388; longitude = -129.999467; duration = 400; initialDepth = 2333.329408; finalDepth = 2334.341175; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.2715790000002 # Actual altitude: 56.2715790000002 # Commanded vehicle depth: 2334.341175 # Seafloor depth: -2390.612754 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.059063 meters # Minimum depth: 2383.329408 meters looking forward 200.000000 meters along route # Maximum depth: 2393.165792 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2333.329408 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.516490; longitude = -129.999559; duration = 400; initialDepth = 2324.277159; finalDepth = 2333.329408; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.3235959999997 # Actual altitude: 57.3235959999997 # Commanded vehicle depth: 2333.329408 # Seafloor depth: -2390.653004 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.059058 meters # Minimum depth: 2374.277159 meters looking forward 200.000000 meters along route # Maximum depth: 2389.936756 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2324.277159 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.515591; longitude = -129.999650; duration = 400; initialDepth = 2312.706798; finalDepth = 2324.277159; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.0674599999998 # Actual altitude: 58.0674599999998 # Commanded vehicle depth: 2324.277159 # Seafloor depth: -2382.344619 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.059052 meters # Minimum depth: 2362.706798 meters looking forward 200.000000 meters along route # Maximum depth: 2381.400258 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2312.706798 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.514693; longitude = -129.999742; duration = 400; initialDepth = 2291.872890; finalDepth = 2312.706798; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.526065 # Actual altitude: 61.526065 # Commanded vehicle depth: 2312.706798 # Seafloor depth: -2374.232863 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.244756 meters # Minimum depth: 2341.872890 meters looking forward 200.000000 meters along route # Maximum depth: 2374.502216 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2291.872890 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.513795; longitude = -129.999833; duration = 400; initialDepth = 2291.872890; finalDepth = 2291.872890; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 69.7987760000001 # Actual altitude: 69.7987760000001 # Commanded vehicle depth: 2291.87289 # Seafloor depth: -2361.671666 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.88; 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 7 # Segment length 149.983794 meters # Minimum depth: 2341.872890 meters looking forward 200.000000 meters along route # Maximum depth: 2357.076661 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2291.872890 meters set by local depth and desired altitude # Vehicle transit speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.512895; longitude = -129.999925; duration = 599; # abortOnTimeout = True; initialDepth = 2296.491211; finalDepth = 2291.872890; speed = 1.500000; } ####################################################### # Acoustic update 6 - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 69.7987760000001 # Actual altitude: 69.7987760000001 # Commanded vehicle depth: 2291.87289 # Seafloor depth: -2349.136719 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 147.886784 meters # Minimum depth: 2346.491211 meters looking forward 200.000000 meters along route # Maximum depth: 2359.360566 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2296.491211 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.512788; longitude = -129.998011; duration = 591; # abortOnTimeout = True; initialDepth = 2300.993362; finalDepth = 2296.491211; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.263829 # Actual altitude: 57.263829 # Commanded vehicle depth: 2296.491211 # Seafloor depth: -2346.491211 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 100.050871 meters # Minimum depth: 2350.993362 meters looking forward 200.000000 meters along route # Maximum depth: 2358.718255 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2300.993362 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.514116; longitude = -129.997878; duration = 400; initialDepth = 2301.440993; finalDepth = 2300.993362; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2300.993362 # Seafloor depth: -2350.993362 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.050877 meters # Minimum depth: 2351.440993 meters looking forward 200.000000 meters along route # Maximum depth: 2362.275386 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2301.440993 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.515014; longitude = -129.997788; duration = 400; initialDepth = 2308.759454; finalDepth = 2301.440993; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.4259569999999 # Actual altitude: 55.4259569999999 # Commanded vehicle depth: 2301.440993 # Seafloor depth: -2356.866950 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.050884 meters # Minimum depth: 2358.759454 meters looking forward 200.000000 meters along route # Maximum depth: 2379.870941 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2308.759454 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.515912; longitude = -129.997698; duration = 400; initialDepth = 2315.609973; finalDepth = 2308.759454; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.4259569999999 # Actual altitude: 55.4259569999999 # Commanded vehicle depth: 2308.759454 # Seafloor depth: -2363.754470 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.050889 meters # Minimum depth: 2365.609973 meters looking forward 200.000000 meters along route # Maximum depth: 2396.091291 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2315.609973 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.516811; longitude = -129.997608; duration = 400; initialDepth = 2332.356799; finalDepth = 2315.609973; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.3800259999998 # Actual altitude: 65.3800259999998 # Commanded vehicle depth: 2315.609973 # Seafloor depth: -2380.989999 # 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 6 # Segment length 100.050897 meters # Minimum depth: 2382.356799 meters looking forward 200.000000 meters along route # Maximum depth: 2396.091291 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2332.356799 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.517709; longitude = -129.997518; duration = 400; initialDepth = 2340.613091; finalDepth = 2332.356799; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.3800259999998 # Actual altitude: 65.3800259999998 # Commanded vehicle depth: 2332.356799 # Seafloor depth: -2391.933700 # 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 6 # Segment length 100.050902 meters # Minimum depth: 2390.613091 meters looking forward 200.000000 meters along route # Maximum depth: 2393.197491 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2340.613091 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.518607; longitude = -129.997428; duration = 400; initialDepth = 2339.833053; finalDepth = 2340.613091; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.5769009999999 # Actual altitude: 59.5769009999999 # Commanded vehicle depth: 2340.613091 # Seafloor depth: -2390.787817 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.050909 meters # Minimum depth: 2389.833053 meters looking forward 200.000000 meters along route # Maximum depth: 2391.673987 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2339.833053 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.519505; longitude = -129.997338; duration = 400; initialDepth = 2337.384120; finalDepth = 2339.833053; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9156090000001 # Actual altitude: 50.9156090000001 # Commanded vehicle depth: 2339.833053 # Seafloor depth: -2390.748662 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.050915 meters # Minimum depth: 2387.384120 meters looking forward 200.000000 meters along route # Maximum depth: 2391.179238 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2337.384120 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.520404; longitude = -129.997248; duration = 400; initialDepth = 2334.468122; finalDepth = 2337.384120; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0804399999997 # Actual altitude: 53.0804399999997 # Commanded vehicle depth: 2337.38412 # Seafloor depth: -2390.464560 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.050921 meters # Minimum depth: 2384.468122 meters looking forward 200.000000 meters along route # Maximum depth: 2391.002264 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2334.468122 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.521302; longitude = -129.997158; duration = 400; initialDepth = 2334.468122; finalDepth = 2334.468122; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1869589999997 # Actual altitude: 53.1869589999997 # Commanded vehicle depth: 2334.468122 # Seafloor depth: -2387.655081 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.050928 meters # Minimum depth: 2384.468122 meters looking forward 200.000000 meters along route # Maximum depth: 2391.109130 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2334.468122 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.522200; longitude = -129.997068; duration = 400; initialDepth = 2335.982328; finalDepth = 2334.468122; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1869589999997 # Actual altitude: 53.1869589999997 # Commanded vehicle depth: 2334.468122 # Seafloor depth: -2387.407617 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.050933 meters # Minimum depth: 2385.982328 meters looking forward 200.000000 meters along route # Maximum depth: 2392.985362 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2335.982328 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.523099; longitude = -129.996978; duration = 400; initialDepth = 2338.037258; finalDepth = 2335.982328; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.2618539999999 # Actual altitude: 55.2618539999999 # Commanded vehicle depth: 2335.982328 # Seafloor depth: -2391.244182 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.050941 meters # Minimum depth: 2388.037258 meters looking forward 200.000000 meters along route # Maximum depth: 2392.985362 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2338.037258 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.523997; longitude = -129.996888; duration = 400; initialDepth = 2338.037258; finalDepth = 2338.037258; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.2618539999999 # Actual altitude: 55.2618539999999 # Commanded vehicle depth: 2338.037258 # Seafloor depth: -2390.482910 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.050946 meters # Minimum depth: 2388.037258 meters looking forward 200.000000 meters along route # Maximum depth: 2393.885901 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2338.037258 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.524895; longitude = -129.996798; duration = 400; initialDepth = 2340.175292; finalDepth = 2338.037258; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4456520000003 # Actual altitude: 52.4456520000003 # Commanded vehicle depth: 2338.037258 # Seafloor depth: -2389.645008 # 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 6 # Segment length 100.050953 meters # Minimum depth: 2390.175292 meters looking forward 200.000000 meters along route # Maximum depth: 2396.440244 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2340.175292 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.525793; longitude = -129.996708; duration = 400; initialDepth = 2338.083042; finalDepth = 2340.175292; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.264952 # Actual altitude: 56.264952 # Commanded vehicle depth: 2340.175292 # Seafloor depth: -2396.440244 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.050959 meters # Minimum depth: 2388.083042 meters looking forward 200.000000 meters along route # Maximum depth: 2396.024390 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2338.083042 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.526692; longitude = -129.996618; duration = 400; initialDepth = 2338.083042; finalDepth = 2338.083042; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.9413479999998 # Actual altitude: 57.9413479999998 # Commanded vehicle depth: 2338.083042 # Seafloor depth: -2396.024390 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.050965 meters # Minimum depth: 2388.083042 meters looking forward 200.000000 meters along route # Maximum depth: 2394.959740 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2338.083042 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.527590; longitude = -129.996528; duration = 400; initialDepth = 2340.909709; finalDepth = 2338.083042; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.9413479999998 # Actual altitude: 57.9413479999998 # Commanded vehicle depth: 2338.083042 # Seafloor depth: -2390.691648 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.050971 meters # Minimum depth: 2390.909709 meters looking forward 200.000000 meters along route # Maximum depth: 2403.192414 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2340.909709 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.528488; longitude = -129.996438; duration = 400; initialDepth = 2342.916389; finalDepth = 2340.909709; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6086059999998 # Actual altitude: 52.6086059999998 # Commanded vehicle depth: 2340.909709 # Seafloor depth: -2392.351588 # 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 6 # Segment length 100.050978 meters # Minimum depth: 2392.916389 meters looking forward 200.000000 meters along route # Maximum depth: 2409.296866 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2342.916389 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.529386; longitude = -129.996348; duration = 400; initialDepth = 2355.195875; finalDepth = 2342.916389; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.0986400000002 # Actual altitude: 61.0986400000002 # Commanded vehicle depth: 2342.916389 # Seafloor depth: -2404.015029 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.050984 meters # Minimum depth: 2405.195875 meters looking forward 200.000000 meters along route # Maximum depth: 2415.001229 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2355.195875 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.530285; longitude = -129.996258; duration = 400; initialDepth = 2360.703758; finalDepth = 2355.195875; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.0986400000002 # Actual altitude: 61.0986400000002 # Commanded vehicle depth: 2355.195875 # Seafloor depth: -2410.000700 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.050990 meters # Minimum depth: 2410.703758 meters looking forward 200.000000 meters along route # Maximum depth: 2415.258797 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2360.703758 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.531183; longitude = -129.996168; duration = 400; initialDepth = 2362.874432; finalDepth = 2360.703758; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8048250000002 # Actual altitude: 54.8048250000002 # Commanded vehicle depth: 2360.703758 # Seafloor depth: -2415.126142 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.050997 meters # Minimum depth: 2412.874432 meters looking forward 200.000000 meters along route # Maximum depth: 2415.258797 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2362.874432 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.532081; longitude = -129.996078; duration = 400; initialDepth = 2362.874432; finalDepth = 2362.874432; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.422384 # Actual altitude: 54.422384 # Commanded vehicle depth: 2362.874432 # Seafloor depth: -2413.986287 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.051003 meters # Minimum depth: 2412.874432 meters looking forward 200.000000 meters along route # Maximum depth: 2423.282194 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2362.874432 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.532980; longitude = -129.995988; duration = 400; initialDepth = 2365.510085; finalDepth = 2362.874432; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1046940000001 # Actual altitude: 52.1046940000001 # Commanded vehicle depth: 2362.874432 # Seafloor depth: -2414.979126 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.051009 meters # Minimum depth: 2415.510085 meters looking forward 200.000000 meters along route # Maximum depth: 2423.282194 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2365.510085 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.533878; longitude = -129.995898; duration = 400; initialDepth = 2368.336367; finalDepth = 2365.510085; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.7311749999999 # Actual altitude: 56.7311749999999 # Commanded vehicle depth: 2365.510085 # Seafloor depth: -2422.241260 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.051015 meters # Minimum depth: 2418.336367 meters looking forward 200.000000 meters along route # Maximum depth: 2422.502186 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2368.336367 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.534776; longitude = -129.995808; duration = 400; initialDepth = 2367.216784; finalDepth = 2368.336367; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.7311749999999 # Actual altitude: 56.7311749999999 # Commanded vehicle depth: 2368.336367 # Seafloor depth: -2420.332731 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.051022 meters # Minimum depth: 2417.216784 meters looking forward 200.000000 meters along route # Maximum depth: 2420.561527 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2367.216784 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.535674; longitude = -129.995718; duration = 400; initialDepth = 2363.705399; finalDepth = 2367.216784; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9963640000001 # Actual altitude: 51.9963640000001 # Commanded vehicle depth: 2367.216784 # Seafloor depth: -2418.193361 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.051028 meters # Minimum depth: 2413.705399 meters looking forward 200.000000 meters along route # Maximum depth: 2418.240768 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2363.705399 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.536573; longitude = -129.995628; duration = 400; initialDepth = 2346.529341; finalDepth = 2363.705399; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5353690000002 # Actual altitude: 54.5353690000002 # Commanded vehicle depth: 2363.705399 # Seafloor depth: -2418.240768 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.051034 meters # Minimum depth: 2396.529341 meters looking forward 200.000000 meters along route # Maximum depth: 2418.228590 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2346.529341 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.537471; longitude = -129.995538; duration = 400; initialDepth = 2346.116852; finalDepth = 2346.529341; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.5312300000001 # Actual altitude: 69.5312300000001 # Commanded vehicle depth: 2346.529341 # Seafloor depth: -2416.060571 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.051041 meters # Minimum depth: 2396.116852 meters looking forward 200.000000 meters along route # Maximum depth: 2415.307552 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2346.116852 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.538369; longitude = -129.995448; duration = 400; initialDepth = 2346.116852; finalDepth = 2346.116852; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.5312300000001 # Actual altitude: 69.5312300000001 # Commanded vehicle depth: 2346.116852 # Seafloor depth: -2398.962980 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 104.815383 meters # Minimum depth: 2396.116852 meters looking forward 200.000000 meters along route # Maximum depth: 2416.399490 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2346.116852 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.539267; longitude = -129.995357; duration = 419; initialDepth = 2353.443561; finalDepth = 2346.116852; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 57.2331079999999 # Actual altitude: 57.2331079999999 # Commanded vehicle depth: 2346.116852 # Seafloor depth: -2403.349960 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 145.453711 meters # Minimum depth: 2403.443561 meters looking forward 200.000000 meters along route # Maximum depth: 2416.451913 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2353.443561 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.540209; longitude = -129.995263; duration = 581; # abortOnTimeout = True; initialDepth = 2346.973298; finalDepth = 2353.443561; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 62.665814 # Actual altitude: 62.665814 # Commanded vehicle depth: 2353.443561 # Seafloor depth: -2416.109375 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 154.830428 meters # Minimum depth: 2396.973298 meters looking forward 200.000000 meters along route # Maximum depth: 2410.325616 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2346.973298 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.540144; longitude = -129.993402; duration = 619; # abortOnTimeout = True; initialDepth = 2346.973298; finalDepth = 2346.973298; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.665814 # Actual altitude: 62.665814 # Commanded vehicle depth: 2346.973298 # Seafloor depth: -2402.552083 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 100.044269 meters # Minimum depth: 2396.973298 meters looking forward 200.000000 meters along route # Maximum depth: 2400.949264 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2346.973298 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.538754; longitude = -129.993540; duration = 400; initialDepth = 2347.438120; finalDepth = 2346.973298; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.5787850000002 # Actual altitude: 55.5787850000002 # Commanded vehicle depth: 2346.973298 # Seafloor depth: -2398.334554 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.044262 meters # Minimum depth: 2397.438120 meters looking forward 200.000000 meters along route # Maximum depth: 2402.216777 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2347.438120 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.537856; longitude = -129.993629; duration = 400; initialDepth = 2349.651067; finalDepth = 2347.438120; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6730360000001 # Actual altitude: 53.6730360000001 # Commanded vehicle depth: 2347.43812 # Seafloor depth: -2401.111156 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.044256 meters # Minimum depth: 2399.651067 meters looking forward 200.000000 meters along route # Maximum depth: 2404.876842 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2349.651067 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.536958; longitude = -129.993717; duration = 400; initialDepth = 2349.490988; finalDepth = 2349.651067; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6730360000001 # Actual altitude: 53.6730360000001 # Commanded vehicle depth: 2349.651067 # Seafloor depth: -2403.104049 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.044249 meters # Minimum depth: 2399.490988 meters looking forward 200.000000 meters along route # Maximum depth: 2404.876842 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2349.490988 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.536059; longitude = -129.993806; duration = 400; initialDepth = 2344.741671; finalDepth = 2349.490988; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.4529820000002 # Actual altitude: 53.4529820000002 # Commanded vehicle depth: 2349.490988 # Seafloor depth: -2402.368218 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.044243 meters # Minimum depth: 2394.741671 meters looking forward 200.000000 meters along route # Maximum depth: 2403.393042 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2344.741671 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.535161; longitude = -129.993895; duration = 400; initialDepth = 2344.741671; finalDepth = 2344.741671; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.733162 # Actual altitude: 54.733162 # Commanded vehicle depth: 2344.741671 # Seafloor depth: -2399.474833 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.044236 meters # Minimum depth: 2394.741671 meters looking forward 200.000000 meters along route # Maximum depth: 2399.766397 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2344.741671 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.534263; longitude = -129.993984; duration = 400; initialDepth = 2341.791820; finalDepth = 2344.741671; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.733162 # Actual altitude: 54.733162 # Commanded vehicle depth: 2344.741671 # Seafloor depth: -2396.735933 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.044229 meters # Minimum depth: 2391.791820 meters looking forward 200.000000 meters along route # Maximum depth: 2398.054820 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2341.791820 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.533365; longitude = -129.994073; duration = 400; initialDepth = 2341.791820; finalDepth = 2341.791820; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.3540720000001 # Actual altitude: 53.3540720000001 # Commanded vehicle depth: 2341.79182 # Seafloor depth: -2395.145892 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.044223 meters # Minimum depth: 2391.791820 meters looking forward 200.000000 meters along route # Maximum depth: 2394.501976 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2341.791820 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.532466; longitude = -129.994161; duration = 400; initialDepth = 2342.245464; finalDepth = 2341.791820; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.3540720000001 # Actual altitude: 53.3540720000001 # Commanded vehicle depth: 2341.79182 # Seafloor depth: -2393.145025 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.044217 meters # Minimum depth: 2392.245464 meters looking forward 200.000000 meters along route # Maximum depth: 2397.369156 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2342.245464 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.531568; longitude = -129.994250; duration = 400; initialDepth = 2340.964458; finalDepth = 2342.245464; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5084670000001 # Actual altitude: 51.5084670000001 # Commanded vehicle depth: 2342.245464 # Seafloor depth: -2393.753931 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.044210 meters # Minimum depth: 2390.964458 meters looking forward 200.000000 meters along route # Maximum depth: 2399.807512 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2340.964458 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.530670; longitude = -129.994339; duration = 400; initialDepth = 2340.640693; finalDepth = 2340.964458; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.9791049999999 # Actual altitude: 56.9791049999999 # Commanded vehicle depth: 2340.964458 # Seafloor depth: -2397.943563 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.044203 meters # Minimum depth: 2390.640693 meters looking forward 200.000000 meters along route # Maximum depth: 2399.807512 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2340.640693 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.529771; longitude = -129.994428; duration = 400; initialDepth = 2341.297974; finalDepth = 2340.640693; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.9791049999999 # Actual altitude: 56.9791049999999 # Commanded vehicle depth: 2340.640693 # Seafloor depth: -2390.640693 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.044197 meters # Minimum depth: 2391.297974 meters looking forward 200.000000 meters along route # Maximum depth: 2399.468890 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2341.297974 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.528873; longitude = -129.994516; duration = 400; initialDepth = 2339.459834; finalDepth = 2341.297974; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6845210000001 # Actual altitude: 52.6845210000001 # Commanded vehicle depth: 2341.297974 # Seafloor depth: -2393.982495 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.044191 meters # Minimum depth: 2389.459834 meters looking forward 200.000000 meters along route # Maximum depth: 2399.468890 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2339.459834 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.527975; longitude = -129.994605; duration = 400; initialDepth = 2339.385630; finalDepth = 2339.459834; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.2096860000001 # Actual altitude: 57.2096860000001 # Commanded vehicle depth: 2339.459834 # Seafloor depth: -2396.669520 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.044184 meters # Minimum depth: 2389.385630 meters looking forward 200.000000 meters along route # Maximum depth: 2394.878307 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2339.385630 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.527077; longitude = -129.994694; duration = 400; initialDepth = 2339.412030; finalDepth = 2339.385630; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.2096860000001 # Actual altitude: 57.2096860000001 # Commanded vehicle depth: 2339.38563 # Seafloor depth: -2389.385630 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.044177 meters # Minimum depth: 2389.412030 meters looking forward 200.000000 meters along route # Maximum depth: 2393.244528 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2339.412030 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.526178; longitude = -129.994783; duration = 400; initialDepth = 2340.393104; finalDepth = 2339.412030; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1755050000002 # Actual altitude: 52.1755050000002 # Commanded vehicle depth: 2339.41203 # Seafloor depth: -2391.587535 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.044171 meters # Minimum depth: 2390.393104 meters looking forward 200.000000 meters along route # Maximum depth: 2393.244528 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2340.393104 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.525280; longitude = -129.994872; duration = 400; initialDepth = 2340.725476; finalDepth = 2340.393104; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1755050000002 # Actual altitude: 52.1755050000002 # Commanded vehicle depth: 2340.393104 # Seafloor depth: -2390.473948 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.044165 meters # Minimum depth: 2390.725476 meters looking forward 200.000000 meters along route # Maximum depth: 2392.696645 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2340.725476 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.524382; longitude = -129.994960; duration = 400; initialDepth = 2339.976341; finalDepth = 2340.725476; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7023429999999 # Actual altitude: 51.7023429999999 # Commanded vehicle depth: 2340.725476 # Seafloor depth: -2392.427819 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.044157 meters # Minimum depth: 2389.976341 meters looking forward 200.000000 meters along route # Maximum depth: 2392.536834 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2339.976341 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.523483; longitude = -129.995049; duration = 400; initialDepth = 2338.524740; finalDepth = 2339.976341; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7023429999999 # Actual altitude: 51.7023429999999 # Commanded vehicle depth: 2339.976341 # Seafloor depth: -2391.051049 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.044152 meters # Minimum depth: 2388.524740 meters looking forward 200.000000 meters along route # Maximum depth: 2391.047767 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2338.524740 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.522585; longitude = -129.995138; duration = 400; initialDepth = 2338.524740; finalDepth = 2338.524740; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1188910000001 # Actual altitude: 51.1188910000001 # Commanded vehicle depth: 2338.52474 # Seafloor depth: -2389.643631 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.044145 meters # Minimum depth: 2388.524740 meters looking forward 200.000000 meters along route # Maximum depth: 2390.311296 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2338.524740 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.521687; longitude = -129.995227; duration = 400; initialDepth = 2338.303786; finalDepth = 2338.524740; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1188910000001 # Actual altitude: 51.1188910000001 # Commanded vehicle depth: 2338.52474 # Seafloor depth: -2389.384317 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.044138 meters # Minimum depth: 2388.303786 meters looking forward 200.000000 meters along route # Maximum depth: 2391.187804 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2338.303786 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.520789; longitude = -129.995315; duration = 400; initialDepth = 2338.303786; finalDepth = 2338.303786; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0457850000003 # Actual altitude: 52.0457850000003 # Commanded vehicle depth: 2338.303786 # Seafloor depth: -2390.349571 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.044132 meters # Minimum depth: 2388.303786 meters looking forward 200.000000 meters along route # Maximum depth: 2391.420188 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2338.303786 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.519890; longitude = -129.995404; duration = 400; initialDepth = 2327.569435; finalDepth = 2338.303786; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.910132 # Actual altitude: 52.910132 # Commanded vehicle depth: 2338.303786 # Seafloor depth: -2391.213918 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.044125 meters # Minimum depth: 2377.569435 meters looking forward 200.000000 meters along route # Maximum depth: 2391.420188 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2327.569435 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.518992; longitude = -129.995493; duration = 400; initialDepth = 2324.537923; finalDepth = 2327.569435; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.178723 # Actual altitude: 61.178723 # Commanded vehicle depth: 2327.569435 # Seafloor depth: -2388.748158 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.044119 meters # Minimum depth: 2374.537923 meters looking forward 200.000000 meters along route # Maximum depth: 2387.398545 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2324.537923 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.518094; longitude = -129.995582; duration = 400; initialDepth = 2315.511657; finalDepth = 2324.537923; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.178723 # Actual altitude: 61.178723 # Commanded vehicle depth: 2324.537923 # Seafloor depth: -2380.051160 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.044112 meters # Minimum depth: 2365.511657 meters looking forward 200.000000 meters along route # Maximum depth: 2382.455365 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2315.511657 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.517196; longitude = -129.995671; duration = 400; initialDepth = 2296.624895; finalDepth = 2315.511657; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.9922099999999 # Actual altitude: 57.9922099999999 # Commanded vehicle depth: 2315.511657 # Seafloor depth: -2373.503867 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.044106 meters # Minimum depth: 2346.624895 meters looking forward 200.000000 meters along route # Maximum depth: 2376.116566 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2296.624895 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.516297; longitude = -129.995759; duration = 400; initialDepth = 2289.554353; finalDepth = 2296.624895; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.585047 # Actual altitude: 67.585047 # Commanded vehicle depth: 2296.624895 # Seafloor depth: -2364.209942 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.044100 meters # Minimum depth: 2339.554353 meters looking forward 200.000000 meters along route # Maximum depth: 2362.129444 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2289.554353 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.515399; longitude = -129.995848; duration = 400; initialDepth = 2284.816345; finalDepth = 2289.554353; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.585047 # Actual altitude: 67.585047 # Commanded vehicle depth: 2289.554353 # Seafloor depth: -2345.781027 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.044092 meters # Minimum depth: 2334.816345 meters looking forward 200.000000 meters along route # Maximum depth: 2344.953520 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2284.816345 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.514501; longitude = -129.995937; duration = 400; initialDepth = 2284.212293; finalDepth = 2284.816345; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.226674 # Actual altitude: 56.226674 # Commanded vehicle depth: 2284.816345 # Seafloor depth: -2339.021182 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 104.808091 meters # Minimum depth: 2334.212293 meters looking forward 200.000000 meters along route # Maximum depth: 2338.282208 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2284.212293 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.513602; longitude = -129.996026; duration = 419; initialDepth = 2280.808832; finalDepth = 2284.212293; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 54.2048369999998 # Actual altitude: 54.2048369999998 # Commanded vehicle depth: 2284.212293 # Seafloor depth: -2335.913190 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 137.078810 meters # Minimum depth: 2330.808832 meters looking forward 200.000000 meters along route # Maximum depth: 2336.515625 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2280.808832 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.512661; longitude = -129.996119; duration = 548; # abortOnTimeout = True; initialDepth = 2285.119050; finalDepth = 2280.808832; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 53.138434 # Actual altitude: 53.138434 # Commanded vehicle depth: 2280.808832 # Seafloor depth: -2333.947266 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 131.032718 meters # Minimum depth: 2335.119050 meters looking forward 200.000000 meters along route # Maximum depth: 2338.906462 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2285.119050 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.512619; longitude = -129.994365; duration = 524; # abortOnTimeout = True; initialDepth = 2284.823431; finalDepth = 2285.119050; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.138434 # Actual altitude: 53.138434 # Commanded vehicle depth: 2285.11905 # Seafloor depth: -2336.421224 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 100.061355 meters # Minimum depth: 2334.823431 meters looking forward 200.000000 meters along route # Maximum depth: 2338.765601 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2284.823431 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.513795; longitude = -129.994245; duration = 400; initialDepth = 2284.823431; finalDepth = 2284.823431; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3021740000004 # Actual altitude: 51.3021740000004 # Commanded vehicle depth: 2284.823431 # Seafloor depth: -2334.898407 # 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 2 # Segment length 100.061361 meters # Minimum depth: 2334.823431 meters looking forward 200.000000 meters along route # Maximum depth: 2343.798271 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2284.823431 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.514693; longitude = -129.994153; duration = 400; initialDepth = 2287.896530; finalDepth = 2284.823431; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.8519290000004 # Actual altitude: 53.8519290000004 # Commanded vehicle depth: 2284.823431 # Seafloor depth: -2338.675360 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.061367 meters # Minimum depth: 2337.896530 meters looking forward 200.000000 meters along route # Maximum depth: 2363.931876 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2287.896530 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.515591; longitude = -129.994061; duration = 400; initialDepth = 2296.137742; finalDepth = 2287.896530; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.9115489999999 # Actual altitude: 56.9115489999999 # Commanded vehicle depth: 2287.89653 # Seafloor depth: -2344.808079 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.061373 meters # Minimum depth: 2346.137742 meters looking forward 200.000000 meters along route # Maximum depth: 2368.304906 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2296.137742 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.516490; longitude = -129.993969; duration = 400; initialDepth = 2304.979121; finalDepth = 2296.137742; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.6112410000001 # Actual altitude: 59.6112410000001 # Commanded vehicle depth: 2296.137742 # Seafloor depth: -2355.748983 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.061379 meters # Minimum depth: 2354.979121 meters looking forward 200.000000 meters along route # Maximum depth: 2368.304906 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2304.979121 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.517388; longitude = -129.993877; duration = 400; initialDepth = 2307.815346; finalDepth = 2304.979121; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.6112410000001 # Actual altitude: 59.6112410000001 # Commanded vehicle depth: 2304.979121 # Seafloor depth: -2358.780323 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.061385 meters # Minimum depth: 2357.815346 meters looking forward 200.000000 meters along route # Maximum depth: 2373.367135 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2307.815346 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.518286; longitude = -129.993785; duration = 400; initialDepth = 2311.909781; finalDepth = 2307.815346; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.8297910000001 # Actual altitude: 53.8297910000001 # Commanded vehicle depth: 2307.815346 # Seafloor depth: -2361.645137 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.061391 meters # Minimum depth: 2361.909781 meters looking forward 200.000000 meters along route # Maximum depth: 2377.181202 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2311.909781 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.519185; longitude = -129.993693; duration = 400; initialDepth = 2323.345763; finalDepth = 2311.909781; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.2669210000004 # Actual altitude: 61.2669210000004 # Commanded vehicle depth: 2311.909781 # Seafloor depth: -2373.176702 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.061396 meters # Minimum depth: 2373.345763 meters looking forward 200.000000 meters along route # Maximum depth: 2392.889500 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2323.345763 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.520083; longitude = -129.993601; duration = 400; initialDepth = 2329.132092; finalDepth = 2323.345763; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.2669210000004 # Actual altitude: 61.2669210000004 # Commanded vehicle depth: 2323.345763 # Seafloor depth: -2378.102419 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.061403 meters # Minimum depth: 2379.132092 meters looking forward 200.000000 meters along route # Maximum depth: 2406.122465 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2329.132092 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.520981; longitude = -129.993509; duration = 400; initialDepth = 2342.641337; finalDepth = 2329.132092; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.769507 # Actual altitude: 63.769507 # Commanded vehicle depth: 2329.132092 # Seafloor depth: -2392.901599 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.061408 meters # Minimum depth: 2392.641337 meters looking forward 200.000000 meters along route # Maximum depth: 2406.122465 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2342.641337 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.521879; longitude = -129.993417; duration = 400; initialDepth = 2339.470621; finalDepth = 2342.641337; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.769507 # Actual altitude: 63.769507 # Commanded vehicle depth: 2342.641337 # Seafloor depth: -2395.554854 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.061415 meters # Minimum depth: 2389.470621 meters looking forward 200.000000 meters along route # Maximum depth: 2394.949734 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2339.470621 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.522778; longitude = -129.993325; duration = 400; initialDepth = 2339.470621; finalDepth = 2339.470621; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1993010000001 # Actual altitude: 54.1993010000001 # Commanded vehicle depth: 2339.470621 # Seafloor depth: -2393.669922 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.061420 meters # Minimum depth: 2389.470621 meters looking forward 200.000000 meters along route # Maximum depth: 2392.961910 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2339.470621 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.523676; longitude = -129.993233; duration = 400; initialDepth = 2339.198044; finalDepth = 2339.470621; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1993010000001 # Actual altitude: 54.1993010000001 # Commanded vehicle depth: 2339.470621 # Seafloor depth: -2391.796754 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.061426 meters # Minimum depth: 2389.198044 meters looking forward 200.000000 meters along route # Maximum depth: 2392.827471 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2339.198044 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.524574; longitude = -129.993142; duration = 400; initialDepth = 2339.198044; finalDepth = 2339.198044; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.326133 # Actual altitude: 52.326133 # Commanded vehicle depth: 2339.198044 # Seafloor depth: -2389.676562 # 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 2 # Segment length 104.826263 meters # Minimum depth: 2389.198044 meters looking forward 200.000000 meters along route # Maximum depth: 2392.984720 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2339.198044 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.525473; longitude = -129.993050; duration = 419; initialDepth = 2335.947751; finalDepth = 2339.198044; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 52.1127539999998 # Actual altitude: 52.1127539999998 # Commanded vehicle depth: 2339.198044 # Seafloor depth: -2391.310798 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 171.761946 meters # Minimum depth: 2385.947751 meters looking forward 200.000000 meters along route # Maximum depth: 2392.065855 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2335.947751 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.526414; longitude = -129.992953; duration = 687; # abortOnTimeout = True; initialDepth = 2335.947751; finalDepth = 2335.947751; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.4851919999996 # Actual altitude: 55.4851919999996 # Commanded vehicle depth: 2335.947751 # Seafloor depth: -2391.432943 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.448571 meters # Minimum depth: 2385.947751 meters looking forward 200.000000 meters along route # Maximum depth: 2398.343001 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2335.947751 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.527333; longitude = -129.994721; duration = 401; initialDepth = 2340.680321; finalDepth = 2335.947751; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.4851919999996 # Actual altitude: 55.4851919999996 # Commanded vehicle depth: 2335.947751 # Seafloor depth: -2389.885353 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 105.973896 meters # Minimum depth: 2390.680321 meters looking forward 200.000000 meters along route # Maximum depth: 2398.343001 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2340.680321 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.527871; longitude = -129.995755; duration = 423; initialDepth = 2342.017416; finalDepth = 2340.680321; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.937602 # Actual altitude: 53.937602 # Commanded vehicle depth: 2340.680321 # Seafloor depth: -2394.291127 # 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 1 # Segment length 105.141240 meters # Minimum depth: 2392.017416 meters looking forward 200.000000 meters along route # Maximum depth: 2407.830867 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2342.017416 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.528438; longitude = -129.996846; duration = 420; initialDepth = 2345.757833; finalDepth = 2342.017416; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6108060000001 # Actual altitude: 53.6108060000001 # Commanded vehicle depth: 2342.017416 # Seafloor depth: -2395.276427 # 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 1 # Segment length 100.570887 meters # Minimum depth: 2395.757833 meters looking forward 200.000000 meters along route # Maximum depth: 2419.297543 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2345.757833 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.529001; longitude = -129.997928; duration = 402; initialDepth = 2359.400955; finalDepth = 2345.757833; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.7711569999997 # Actual altitude: 62.7711569999997 # Commanded vehicle depth: 2345.757833 # Seafloor depth: -2408.528990 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 105.971933 meters # Minimum depth: 2409.400955 meters looking forward 200.000000 meters along route # Maximum depth: 2422.604359 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2359.400955 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.529540; longitude = -129.998963; duration = 423; initialDepth = 2362.930791; finalDepth = 2359.400955; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.7711569999997 # Actual altitude: 62.7711569999997 # Commanded vehicle depth: 2359.400955 # Seafloor depth: -2418.787868 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 105.015117 meters # Minimum depth: 2412.930791 meters looking forward 200.000000 meters along route # Maximum depth: 2422.604359 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2362.930791 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.530107; longitude = -130.000054; duration = 420; initialDepth = 2353.875303; finalDepth = 2362.930791; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.3869129999998 # Actual altitude: 59.3869129999998 # Commanded vehicle depth: 2362.930791 # Seafloor depth: -2417.482750 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.693199 meters # Minimum depth: 2403.875303 meters looking forward 200.000000 meters along route # Maximum depth: 2417.030762 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2353.875303 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.530670; longitude = -130.001135; duration = 402; initialDepth = 2341.791868; finalDepth = 2353.875303; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.7747450000002 # Actual altitude: 58.7747450000002 # Commanded vehicle depth: 2353.875303 # Seafloor depth: -2412.650048 # 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 1 # Segment length 105.969969 meters # Minimum depth: 2391.791868 meters looking forward 200.000000 meters along route # Maximum depth: 2412.670480 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2341.791868 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.531209; longitude = -130.002171; duration = 423; initialDepth = 2338.511850; finalDepth = 2341.791868; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.1227490000001 # Actual altitude: 61.1227490000001 # Commanded vehicle depth: 2341.791868 # Seafloor depth: -2402.914617 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 104.889000 meters # Minimum depth: 2388.511850 meters looking forward 200.000000 meters along route # Maximum depth: 2400.649935 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2338.511850 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.531776; longitude = -130.003262; duration = 419; initialDepth = 2338.273755; finalDepth = 2338.511850; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.1227490000001 # Actual altitude: 61.1227490000001 # Commanded vehicle depth: 2338.51185 # Seafloor depth: -2391.493066 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.815506 meters # Minimum depth: 2388.273755 meters looking forward 200.000000 meters along route # Maximum depth: 2390.790125 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2338.273755 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.532338; longitude = -130.004342; duration = 403; initialDepth = 2335.253291; finalDepth = 2338.273755; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9812160000001 # Actual altitude: 52.9812160000001 # Commanded vehicle depth: 2338.273755 # Seafloor depth: -2388.301190 # 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 1 # Segment length 105.968006 meters # Minimum depth: 2385.253291 meters looking forward 200.000000 meters along route # Maximum depth: 2391.482812 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2335.253291 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.532878; longitude = -130.005379; duration = 423; initialDepth = 2335.253291; finalDepth = 2335.253291; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9301890000002 # Actual altitude: 52.9301890000002 # Commanded vehicle depth: 2335.253291 # Seafloor depth: -2388.183480 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 104.762886 meters # Minimum depth: 2385.253291 meters looking forward 200.000000 meters along route # Maximum depth: 2391.482812 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2335.253291 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.533445; longitude = -130.006470; duration = 419; initialDepth = 2338.069207; finalDepth = 2335.253291; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0951810000001 # Actual altitude: 54.0951810000001 # Commanded vehicle depth: 2335.253291 # Seafloor depth: -2389.348472 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.937809 meters # Minimum depth: 2388.069207 meters looking forward 200.000000 meters along route # Maximum depth: 2392.284881 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2338.069207 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.534006; longitude = -130.007549; duration = 403; initialDepth = 2338.094928; finalDepth = 2338.069207; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0951810000001 # Actual altitude: 54.0951810000001 # Commanded vehicle depth: 2338.069207 # Seafloor depth: -2390.691391 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 105.966043 meters # Minimum depth: 2388.094928 meters looking forward 200.000000 meters along route # Maximum depth: 2392.451154 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2338.094928 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.534547; longitude = -130.008588; duration = 423; initialDepth = 2337.128886; finalDepth = 2338.094928; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6221839999998 # Actual altitude: 52.6221839999998 # Commanded vehicle depth: 2338.094928 # Seafloor depth: -2389.509027 # 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 1 # Segment length 104.636777 meters # Minimum depth: 2387.128886 meters looking forward 200.000000 meters along route # Maximum depth: 2392.451154 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2337.128886 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.535114; longitude = -130.009678; duration = 418; initialDepth = 2336.559355; finalDepth = 2337.128886; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4140990000001 # Actual altitude: 51.4140990000001 # Commanded vehicle depth: 2337.128886 # Seafloor depth: -2388.204101 # 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 1 # Segment length 101.060107 meters # Minimum depth: 2386.559355 meters looking forward 200.000000 meters along route # Maximum depth: 2390.762680 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2336.559355 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.535674; longitude = -130.010755; duration = 404; initialDepth = 2326.120207; finalDepth = 2336.559355; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2426420000002 # Actual altitude: 51.2426420000002 # Commanded vehicle depth: 2336.559355 # Seafloor depth: -2387.801997 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 105.964080 meters # Minimum depth: 2376.120207 meters looking forward 200.000000 meters along route # Maximum depth: 2390.762680 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2326.120207 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.536216; longitude = -130.011796; duration = 423; initialDepth = 2311.686309; finalDepth = 2326.120207; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.1517429999999 # Actual altitude: 64.1517429999999 # Commanded vehicle depth: 2326.120207 # Seafloor depth: -2390.271950 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 104.510673 meters # Minimum depth: 2361.686309 meters looking forward 200.000000 meters along route # Maximum depth: 2390.152091 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2311.686309 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.536783; longitude = -130.012886; duration = 418; initialDepth = 2311.686309; finalDepth = 2311.686309; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.1517429999999 # Actual altitude: 64.1517429999999 # Commanded vehicle depth: 2311.686309 # Seafloor depth: -2375.225793 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.182401 meters # Minimum depth: 2361.686309 meters looking forward 200.000000 meters along route # Maximum depth: 2389.758984 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2311.686309 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.537343; longitude = -130.013962; duration = 404; initialDepth = 2322.101516; finalDepth = 2311.686309; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.34184 # Actual altitude: 68.34184 # Commanded vehicle depth: 2311.686309 # Seafloor depth: -2380.028149 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 105.962118 meters # Minimum depth: 2372.101516 meters looking forward 200.000000 meters along route # Maximum depth: 2389.758984 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2322.101516 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.537884; longitude = -130.015004; duration = 423; initialDepth = 2318.384594; finalDepth = 2322.101516; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.34184 # Actual altitude: 68.34184 # Commanded vehicle depth: 2322.101516 # Seafloor depth: -2386.073998 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 104.384574 meters # Minimum depth: 2368.384594 meters looking forward 200.000000 meters along route # Maximum depth: 2385.432321 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2318.384594 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.538452; longitude = -130.016095; duration = 417; initialDepth = 2288.890819; finalDepth = 2318.384594; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.9724819999997 # Actual altitude: 63.9724819999997 # Commanded vehicle depth: 2318.384594 # Seafloor depth: -2372.770197 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.304690 meters # Minimum depth: 2338.890819 meters looking forward 200.000000 meters along route # Maximum depth: 2375.507622 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2288.890819 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.539011; longitude = -130.017169; duration = 405; initialDepth = 2279.578726; finalDepth = 2288.890819; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.2125799999999 # Actual altitude: 84.2125799999999 # Commanded vehicle depth: 2288.890819 # Seafloor depth: -2373.103399 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 50.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 105.960155 meters # Minimum depth: 2329.578726 meters looking forward 200.000000 meters along route # Maximum depth: 2371.825144 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2279.578726 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.539553; longitude = -130.018212; duration = 423; initialDepth = 2279.578726; finalDepth = 2279.578726; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.2125799999999 # Actual altitude: 84.2125799999999 # Commanded vehicle depth: 2279.578726 # Seafloor depth: -2336.271568 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 50.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 104.258479 meters # Minimum depth: 2329.578726 meters looking forward 200.000000 meters along route # Maximum depth: 2336.370628 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2279.578726 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.540121; longitude = -130.019303; duration = 417; initialDepth = 2279.770418; finalDepth = 2279.578726; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.6928419999999 # Actual altitude: 56.6928419999999 # Commanded vehicle depth: 2279.578726 # Seafloor depth: -2331.244979 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.426976 meters # Minimum depth: 2329.770418 meters looking forward 200.000000 meters along route # Maximum depth: 2337.610820 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2279.770418 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.540679; longitude = -130.020376; duration = 405; initialDepth = 2279.770418; finalDepth = 2279.770418; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.7936730000001 # Actual altitude: 57.7936730000001 # Commanded vehicle depth: 2279.770418 # Seafloor depth: -2337.564091 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 105.958192 meters # Minimum depth: 2329.770418 meters looking forward 200.000000 meters along route # Maximum depth: 2341.181790 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2279.770418 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.541222; longitude = -130.021420; duration = 423; initialDepth = 2269.554758; finalDepth = 2279.770418; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.7936730000001 # Actual altitude: 57.7936730000001 # Commanded vehicle depth: 2279.770418 # Seafloor depth: -2336.000231 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 104.132389 meters # Minimum depth: 2319.554758 meters looking forward 200.000000 meters along route # Maximum depth: 2341.181790 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2269.554758 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.541790; longitude = -130.022511; duration = 416; initialDepth = 2269.554758; finalDepth = 2269.554758; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.7341099999999 # Actual altitude: 62.7341099999999 # Commanded vehicle depth: 2269.554758 # Seafloor depth: -2332.288868 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.549256 meters # Minimum depth: 2319.554758 meters looking forward 200.000000 meters along route # Maximum depth: 2331.058391 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2269.554758 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.542347; longitude = -130.023583; duration = 406; initialDepth = 2265.160416; finalDepth = 2269.554758; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.7341099999999 # Actual altitude: 62.7341099999999 # Commanded vehicle depth: 2269.554758 # Seafloor depth: -2326.433010 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 105.956230 meters # Minimum depth: 2315.160416 meters looking forward 200.000000 meters along route # Maximum depth: 2327.413779 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2265.160416 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.542891; longitude = -130.024628; duration = 423; initialDepth = 2258.650000; finalDepth = 2265.160416; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.4747809999999 # Actual altitude: 57.4747809999999 # Commanded vehicle depth: 2265.160416 # Seafloor depth: -2322.635197 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 104.006304 meters # Minimum depth: 2308.650000 meters looking forward 200.000000 meters along route # Maximum depth: 2322.524692 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2258.650000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.543459; longitude = -130.025719; duration = 416; initialDepth = 2258.650000; finalDepth = 2258.650000; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.4747809999999 # Actual altitude: 57.4747809999999 # Commanded vehicle depth: 2258.65 # Seafloor depth: -2315.280965 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.671532 meters # Minimum depth: 2308.650000 meters looking forward 200.000000 meters along route # Maximum depth: 2318.599047 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2258.650000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.544015; longitude = -130.026790; duration = 406; initialDepth = 2261.663531; finalDepth = 2258.650000; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.6880069999997 # Actual altitude: 58.6880069999997 # Commanded vehicle depth: 2258.65 # Seafloor depth: -2317.338007 # 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 1 # Segment length 105.954267 meters # Minimum depth: 2311.663531 meters looking forward 200.000000 meters along route # Maximum depth: 2320.980220 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2261.663531 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.544560; longitude = -130.027836; duration = 423; initialDepth = 2261.663531; finalDepth = 2261.663531; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.6880069999997 # Actual altitude: 58.6880069999997 # Commanded vehicle depth: 2261.663531 # Seafloor depth: -2313.087281 # 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 1 # Segment length 103.880224 meters # Minimum depth: 2311.663531 meters looking forward 200.000000 meters along route # Maximum depth: 2322.005195 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2261.663531 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.545127; longitude = -130.028927; duration = 415; initialDepth = 2269.105421; finalDepth = 2261.663531; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.3072950000001 # Actual altitude: 59.3072950000001 # Commanded vehicle depth: 2261.663531 # Seafloor depth: -2320.970826 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.793803 meters # Minimum depth: 2319.105421 meters looking forward 200.000000 meters along route # Maximum depth: 2333.761169 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2269.105421 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.545684; longitude = -130.029997; duration = 407; initialDepth = 2271.537653; finalDepth = 2269.105421; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.3072950000001 # Actual altitude: 59.3072950000001 # Commanded vehicle depth: 2269.105421 # Seafloor depth: -2320.351737 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.880094 meters # Minimum depth: 2321.537653 meters looking forward 200.000000 meters along route # Maximum depth: 2333.761169 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2271.537653 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.546229; longitude = -130.031044; duration = 407; initialDepth = 2281.269320; finalDepth = 2271.537653; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.005717 # Actual altitude: 62.005717 # Commanded vehicle depth: 2271.537653 # Seafloor depth: -2333.543370 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 103.791419 meters # Minimum depth: 2331.269320 meters looking forward 200.000000 meters along route # Maximum depth: 2333.644621 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2281.269320 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.546774; longitude = -130.032093; duration = 415; initialDepth = 2281.274010; finalDepth = 2281.269320; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.005717 # Actual altitude: 62.005717 # Commanded vehicle depth: 2281.26932 # Seafloor depth: -2331.664659 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 103.873546 meters # Minimum depth: 2331.274010 meters looking forward 200.000000 meters along route # Maximum depth: 2333.644621 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2399.879622 meters # Behavior depth of 2281.274010 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.547330; longitude = -130.033162; duration = 415; initialDepth = 2281.274010; finalDepth = 2281.274010; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50.7366179999999 # Actual altitude: 50.7366179999999 # Commanded vehicle depth: 2281.27401 # Seafloor depth: -2332.010628 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 2; } # Set sonar parameters # Waypoint type: 1 # Commanded altitude: 50.7366179999999 # Sonar parameter altitude: 50.7366179999999 # Commanded vehicle depth: 2281.27401 # Seafloor depth: -2331.953451 # behavior reson { duration = 6; SBP_Gain = 128.0; SBP_Duration = 300.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 200.00; MB_Power = 218; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 31; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000033; MB_Bottom_Detect_Filter_Min_Range = 30.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint behavior to get back to start of line 1 # Segment length 103.873546 meters # Minimum depth: 2331.274010 meters looking forward 200.000000 meters along route # Maximum depth: 2333.644621 meters looking forward 200.000000 meters along route # Vehicle depth: 2281.274010 meters behavior waypoint { latitude = 45.547887; longitude = -130.034231; duration = 4562; depth = 2281.274010; 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 2281.274010 meters set by local depth and desired altitude behavior descend { duration = 8385; horizontalMode = rudder; horizontal = 2.000000; pitch = -35.000000; speed = 1.500000; maxDepth = 2271.953451; minAltitude = 50.000000; } # # Acoustic update 5 - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # Waypoint behavior to get to start of line 1 # Segment length 103.873546 meters # Minimum depth: 2331.274010 meters looking forward 200.000000 meters along route # Maximum depth: 2333.644621 meters looking forward 200.000000 meters along route # Vehicle depth: 50.000000 meters behavior waypoint { latitude = 45.547887; longitude = -130.034231; duration = 2000; depth = 50.000000; speed = 1.500000; } # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 180.0; 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 = 180.0; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 300.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 31; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000033; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### ####################################################### ####################################################### #######################################################