# 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 2292 2017-01-30 18:11:01Z caress r # # Mission Summary: # Route File: CCEShallow_m2_v3.rte # Mission File: CCEShallow_m2_v3.cfg # Distance: 86740.481478 (m) # Estimated Time: 58960 (s) 16.378 (hr) # Abort Time: 66225 (s) # Max battery life: 68400 (s) # Safety margin: 1800 (s) # Ascend time: 374 (s) # Way Points: 146 # Route Points: 803 # 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: Waypoint descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 33 dB # Multibeam transmit gain: 218 dB # Multibeam pulse width: 3.3e-05 usec # Multibeam minimum range fraction: 0.6 # Multibeam maximum range fraction: 5.0 # Subbottom enabled # Low sidescan enabled # High sidescan disabled # Benthic imaging camera control disabled: # # Mission Parameters: # Vehicle Survey Speed: 1.500000 (m/s) 2.915769 (knots) # Vehicle Ascent Speed: 1.500000 (m/s) 2.915769 (knots) # Vehicle Transit Speed: 1.500000 (m/s) 2.915769 (knots) # Minimum Vehicle Altitude 1: 50 (m) # Abort Vehicle Altitude 1: 20 (m) # Delta Depth Restart 1: 30 (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: 507.486644 (m) # Abort Vehicle Depth: 532.486644 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 100 (m) # Waypoint Spacing: 100 (m) # Maximum climb rate: 20 (degrees) # GPS Duration: 600 (s) # Descend Rate: 0.417 (m/s) # Ascend Rate: 1 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -121.824729 36.805007 -41.982756 0.000000 3 # 1 -121.823720 36.799510 -143.382778 616.470558 1 # 2 -121.824280 36.795094 -169.541073 1108.942749 1 # 3 -121.827865 36.792300 -172.327908 1554.376617 1 # 4 -121.830778 36.791489 -171.544533 1829.435925 1 # 5 -121.851952 36.798428 -285.324181 3869.537241 1 # 6 -121.854118 36.801462 -287.253151 4257.671020 1 # 7 -121.856471 36.803625 -307.023796 4576.506367 1 # 8 -121.859048 36.804076 -314.658012 4811.796458 1 # 9 -121.862409 36.803265 -259.052326 5124.858571 1 # 10 -121.864276 36.800321 -303.654037 5491.498344 1 # 11 -121.865956 36.798608 -335.997520 5733.541094 1 # 12 -121.877197 36.794883 -369.587013 6818.307448 1 # 13 -121.884255 36.798578 -395.384048 7569.717201 1 # 14 -121.891051 36.797797 -399.829987 8182.226007 1 # 15 -121.893964 36.800321 -382.253914 8564.271197 1 # 16 -121.897474 36.801372 -380.951988 8898.430566 1 # 17 -121.899827 36.800922 -397.792015 9114.214862 1 # 18 -121.907072 36.797527 -454.264061 9862.343629 1 # 19 -121.907856 36.795364 -444.250214 10112.299631 1 # 20 -121.906325 36.785510 -482.772545 11214.027860 3 # 21 -121.904719 36.785631 -521.929169 11357.967865 3 # 22 -121.906325 36.795154 -507.753647 12424.146533 1 # 23 -121.905839 36.796806 -504.491890 12612.483359 1 # 24 -121.899566 36.799780 -486.105980 13262.182153 1 # 25 -121.897250 36.800291 -467.264542 13476.449605 1 # 26 -121.894674 36.799029 -468.522766 13745.567515 1 # 27 -121.891499 36.796536 -440.340546 14141.476510 1 # 28 -121.884479 36.797407 -431.113701 14775.231458 1 # 29 -121.877047 36.793561 -398.711006 15563.766720 1 # 30 -121.865284 36.797617 -340.682846 16705.715114 1 # 31 -121.863155 36.799600 -355.664932 16996.373661 1 # 32 -121.861512 36.802183 -355.683800 17318.256347 1 # 33 -121.859010 36.802844 -346.666908 17553.214734 1 # 34 -121.856882 36.802394 -339.093620 17749.522859 1 # 35 -121.855089 36.800411 -330.770950 18021.535000 1 # 36 -121.852512 36.797076 -316.394722 18457.153101 1 # 37 -121.831226 36.790227 -232.398754 20502.812155 1 # 38 -121.827455 36.791278 -208.644516 20858.933522 1 # 39 -121.823048 36.794823 -208.590977 21415.093352 1 # 40 -121.822488 36.799420 -193.436413 21927.547069 3 # 41 -121.821293 36.799029 -168.389439 22042.653773 3 # 42 -121.821928 36.794733 -207.278965 22522.627336 1 # 43 -121.826969 36.790317 -226.316181 23187.726179 1 # 44 -121.831787 36.789055 -241.317211 23639.872636 1 # 45 -121.853110 36.795875 -286.644753 25687.433105 1 # 46 -121.855873 36.799600 -325.643044 26168.641524 1 # 47 -121.857367 36.801102 -331.483910 26382.031696 1 # 48 -121.858898 36.801583 -324.030670 26528.679110 1 # 49 -121.860467 36.801132 -335.879982 26677.336348 1 # 50 -121.862072 36.798759 -364.201561 26977.030117 1 # 51 -121.864537 36.796506 -370.683029 27309.969653 1 # 52 -121.877085 36.792270 -408.302238 28524.212880 1 # 53 -121.884815 36.796235 -425.936432 29342.267861 1 # 54 -121.892060 36.795274 -448.781731 29997.431054 1 # 55 -121.895458 36.797857 -466.939980 30414.609764 1 # 56 -121.897250 36.799119 -474.799080 30627.131795 1 # 57 -121.899379 36.798488 -471.562057 30829.571680 1 # 58 -121.904495 36.796175 -488.742142 31353.217811 1 # 59 -121.904756 36.794883 -499.109764 31498.434894 1 # 60 -121.903151 36.785631 -535.622665 32534.816900 3 # 61 -121.901582 36.785811 -497.045174 32676.244620 3 # 62 -121.903151 36.795094 -457.556091 33715.595721 1 # 63 -121.902703 36.795905 -434.934776 33814.049720 1 # 64 -121.898483 36.797587 -443.503082 34234.275175 1 # 65 -121.897101 36.797887 -467.741127 34361.992669 1 # 66 -121.892545 36.794343 -444.085106 34927.533440 1 # 67 -121.884890 36.795184 -393.592308 35616.897509 1 # 68 -121.877085 36.791098 -361.888313 36447.857345 1 # 69 -121.863641 36.795514 -367.589806 37743.621917 1 # 70 -121.860803 36.798068 -349.492523 38123.629492 1 # 71 -121.859570 36.800141 -321.899498 38378.572044 1 # 72 -121.858375 36.800020 -310.815384 38486.031572 1 # 73 -121.856658 36.798789 -282.873802 38691.262139 1 # 74 -121.853633 36.794643 -216.000748 39224.574397 1 # 75 -121.832384 36.787854 -196.256577 41264.756062 1 # 76 -121.826521 36.789145 -190.727657 41807.185868 1 # 77 -121.820807 36.794553 -175.300968 42594.550500 1 # 78 -121.820247 36.798608 -145.235611 43047.196997 3 # 79 -121.819351 36.798068 -141.404503 43147.097882 3 # 80 -121.819949 36.794343 -134.137802 43563.796681 1 # 81 -121.825998 36.788034 -146.936852 44447.689285 1 # 82 -121.832683 36.786712 -155.881359 45061.992431 1 # 83 -121.854417 36.793652 -223.166126 47148.603116 1 # 84 -121.857666 36.798338 -295.021210 47743.846005 1 # 85 -121.858936 36.799029 -324.730392 47880.654354 1 # 86 -121.859496 36.797317 -291.796654 48077.051737 1 # 87 -121.862595 36.794643 -297.787300 48482.594667 1 # 88 -121.876973 36.790017 -309.162910 49864.371124 1 # 89 -121.885002 36.794012 -376.452255 50706.805769 1 # 90 -121.892620 36.793201 -412.360443 51392.464450 1 # 91 -121.896541 36.796355 -454.299637 51887.273563 1 # 92 -121.898221 36.796716 -459.556282 52042.426846 1 # 93 -121.901246 36.795003 -399.463028 52372.524298 1 # 94 -121.899603 36.785781 -426.590096 53406.086347 3 # 95 -121.895981 36.786171 -399.888382 53732.180397 3 # 96 -121.896429 36.789055 -390.236801 54054.626411 3 # 97 -121.908678 36.788394 -415.511719 55150.088707 3 # 98 -121.909200 36.790858 -402.510963 55427.390371 3 # 99 -121.890752 36.799840 -313.372002 57351.539166 3 # 100 -121.893852 36.790587 -389.572548 58414.703274 3 # 101 -121.896242 36.791368 -371.384857 58644.892262 1 # 102 -121.900238 36.793922 -401.809296 59100.322220 1 # 103 -121.899566 36.795184 -379.351921 59252.630501 3 # 104 -121.897698 36.785691 -408.572632 60318.916422 3 # 105 -121.896093 36.785811 -404.330986 60462.757202 3 # 106 -121.897586 36.795514 -467.205223 61547.445133 1 # 107 -121.896541 36.795094 -450.992653 61651.679644 1 # 108 -121.892993 36.791819 -396.340401 62133.587176 3 # 109 -121.894674 36.791819 -400.245537 62283.580723 1 # 110 -121.896466 36.794433 -455.984116 62614.743581 1 # 111 -121.897026 36.793081 -440.722549 62772.841703 3 # 112 -121.891649 36.792180 -395.483643 63262.922039 1 # 113 -121.885114 36.793381 -381.921799 63861.055001 1 # 114 -121.876935 36.789416 -296.075104 64713.182953 1 # 115 -121.862483 36.793922 -285.075974 66096.234824 3 # 116 -121.867076 36.800141 -277.082787 66898.718121 3 # 117 -121.865433 36.801462 -248.552406 67106.001522 1 # 118 -121.863379 36.804286 -215.703484 67468.962488 1 # 119 -121.859234 36.805728 -264.772972 67871.877263 3 # 120 -121.858487 36.797767 -294.167412 68757.611021 3 # 121 -121.851616 36.800591 -258.668358 69446.069430 3 # 122 -121.850832 36.799510 -266.233353 69584.907744 3 # 123 -121.851653 36.791188 -209.394211 70511.083386 3 # 124 -121.846463 36.789506 -159.169495 71010.376740 3 # 125 -121.844708 36.797497 -231.062428 71910.653061 3 # 126 -121.830255 36.792720 -161.207626 73304.893554 1 # 127 -121.828351 36.793351 -151.411484 73488.643058 1 # 128 -121.825774 36.795334 -126.604345 73806.877021 1 # 129 -121.825625 36.799690 -50.462322 74290.333938 3 # 130 -121.818940 36.797497 -142.961380 74934.499861 3 # 131 -121.819388 36.794162 -117.720877 75306.653099 1 # 132 -121.825737 36.787433 -125.291866 76243.822073 1 # 133 -121.832795 36.786081 -137.898048 76891.264084 1 # 134 -121.854678 36.793081 -226.463943 78992.702753 1 # 135 -121.857554 36.797347 -283.280083 79531.079377 1 # 136 -121.859570 36.796896 -291.491447 79717.783098 3 # 137 -121.868085 36.799600 -289.446968 80534.591487 3 # 138 -121.873948 36.797227 -318.351189 81120.210999 3 # 139 -121.870923 36.790287 -316.686790 81936.096429 3 # 140 -121.876935 36.788424 -275.789383 82510.998061 1 # 141 -121.886719 36.792991 -380.506157 83520.404220 3 # 142 -121.880296 36.797978 -352.463928 84316.986397 3 # 143 -121.883769 36.800231 -304.452896 84715.097474 1 # 144 -121.887952 36.799660 -300.476357 85093.640851 3 # 145 -121.887578 36.784819 -249.698898 86740.481478 4 # # A total of 803 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 66225; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 507.486644; abortDepth = 532.486644; minAltitude = 50.000000; abortAltitude = 20.000000; deltaDepthRestart = 30.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 374; 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 145 # Segment length 143.391484 meters # Minimum depth: 249.698898 meters looking forward 100.000000 meters along route # Maximum depth: 301.324571 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 199.698898 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.784819; longitude = -121.887578; duration = 573; # abortOnTimeout = True; initialDepth = 251.889129; finalDepth = 199.698898; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 199.698898 # Seafloor depth: -249.698898 # 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 145 # Segment length 100.006666 meters # Minimum depth: 304.841702 meters looking forward 100.000000 meters along route # Maximum depth: 321.230782 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 251.889129 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786111; longitude = -121.887611; duration = 400; initialDepth = 272.017770; finalDepth = 251.889129; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9525729436607 # Actual altitude: 52.9525729436607 # Commanded vehicle depth: 251.889129056339 # Seafloor depth: -304.841702 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 145 # Segment length 100.006680 meters # Minimum depth: 322.017770 meters looking forward 100.000000 meters along route # Maximum depth: 361.675250 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 272.017770 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787012; longitude = -121.887633; duration = 400; initialDepth = 308.417224; finalDepth = 272.017770; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9525729436607 # Actual altitude: 52.9525729436607 # Commanded vehicle depth: 272.01777 # Seafloor depth: -322.017770 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 145 # Segment length 100.006694 meters # Minimum depth: 366.259091 meters looking forward 100.000000 meters along route # Maximum depth: 388.361998 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 308.417224 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787914; longitude = -121.887656; duration = 400; initialDepth = 336.384251; finalDepth = 308.417224; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.841866926586 # Actual altitude: 57.841866926586 # Commanded vehicle depth: 308.417224073414 # Seafloor depth: -366.259091 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 145 # Segment length 100.006708 meters # Minimum depth: 386.384251 meters looking forward 100.000000 meters along route # Maximum depth: 387.453177 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 336.384251 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788815; longitude = -121.887679; duration = 400; initialDepth = 335.502072; finalDepth = 336.384251; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.841866926586 # Actual altitude: 57.841866926586 # Commanded vehicle depth: 336.384251 # Seafloor depth: -387.453177 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 145 # Segment length 100.006722 meters # Minimum depth: 385.502072 meters looking forward 100.000000 meters along route # Maximum depth: 386.273352 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 335.502072 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789716; longitude = -121.887701; duration = 400; initialDepth = 333.948544; finalDepth = 335.502072; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.068926 # Actual altitude: 51.068926 # Commanded vehicle depth: 335.502072 # Seafloor depth: -386.273352 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 145 # Segment length 100.006735 meters # Minimum depth: 383.948544 meters looking forward 100.000000 meters along route # Maximum depth: 385.412521 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 333.948544 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790617; longitude = -121.887724; duration = 400; initialDepth = 330.903987; finalDepth = 333.948544; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.463977 # Actual altitude: 51.463977 # Commanded vehicle depth: 333.948544 # Seafloor depth: -385.412521 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 145 # Segment length 100.006750 meters # Minimum depth: 380.903987 meters looking forward 100.000000 meters along route # Maximum depth: 383.595451 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 330.903987 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791519; longitude = -121.887747; duration = 400; initialDepth = 328.226904; finalDepth = 330.903987; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6914640000001 # Actual altitude: 52.6914640000001 # Commanded vehicle depth: 330.903987 # Seafloor depth: -383.595451 # 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 145 # Segment length 100.006764 meters # Minimum depth: 378.226904 meters looking forward 100.000000 meters along route # Maximum depth: 380.659816 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 328.226904 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792420; longitude = -121.887770; duration = 400; initialDepth = 328.416687; finalDepth = 328.226904; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6914640000001 # Actual altitude: 52.6914640000001 # Commanded vehicle depth: 328.226904 # Seafloor depth: -380.659816 # 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 145 # Segment length 100.006777 meters # Minimum depth: 378.416687 meters looking forward 100.000000 meters along route # Maximum depth: 388.980713 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 328.416687 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793321; longitude = -121.887792; duration = 400; initialDepth = 340.402558; finalDepth = 328.416687; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.432912 # Actual altitude: 52.432912 # Commanded vehicle depth: 328.416687 # Seafloor depth: -378.416687 # 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 145 # Segment length 100.006792 meters # Minimum depth: 390.402558 meters looking forward 100.000000 meters along route # Maximum depth: 396.321205 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 340.402558 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794222; longitude = -121.887815; duration = 400; initialDepth = 346.262079; finalDepth = 340.402558; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 340.402558 # Seafloor depth: -390.402558 # 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 145 # Segment length 100.006805 meters # Minimum depth: 396.262079 meters looking forward 100.000000 meters along route # Maximum depth: 410.154371 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 346.262079 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795124; longitude = -121.887838; duration = 400; initialDepth = 362.866013; finalDepth = 346.262079; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.324474 # Actual altitude: 50.324474 # Commanded vehicle depth: 346.262079 # Seafloor depth: -396.586553 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 145 # Segment length 100.006819 meters # Minimum depth: 412.866013 meters looking forward 100.000000 meters along route # Maximum depth: 433.333364 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 362.866013 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796025; longitude = -121.887860; duration = 400; initialDepth = 385.064462; finalDepth = 362.866013; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.324474 # Actual altitude: 50.324474 # Commanded vehicle depth: 362.866013 # Seafloor depth: -412.866013 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 145 # Segment length 100.006833 meters # Minimum depth: 435.064462 meters looking forward 100.000000 meters along route # Maximum depth: 440.033891 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 385.064462 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796926; longitude = -121.887883; duration = 400; initialDepth = 339.187243; finalDepth = 385.064462; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 385.064462 # Seafloor depth: -435.064462 # 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 145 # Segment length 100.006847 meters # Minimum depth: 389.187243 meters looking forward 100.000000 meters along route # Maximum depth: 438.707051 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 339.187243 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797827; longitude = -121.887906; duration = 400; initialDepth = 251.857432; finalDepth = 339.187243; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 99.519808 # Actual altitude: 99.519808 # Commanded vehicle depth: 339.187243 # Seafloor depth: -438.707051 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 59.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 145 # Segment length 103.354551 meters # Minimum depth: 301.857432 meters looking forward 100.000000 meters along route # Maximum depth: 381.818529 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 251.857432 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798729; longitude = -121.887929; duration = 413; initialDepth = 250.476357; finalDepth = 251.857432; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 129.961097 # Actual altitude: 100 # Commanded vehicle depth: 251.857432 # Seafloor depth: -381.818529 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 144 # Segment length 169.000275 meters # Minimum depth: 300.476357 meters looking forward 100.000000 meters along route # Maximum depth: 307.299848 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 250.476357 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799660; longitude = -121.887952; duration = 676; # abortOnTimeout = True; initialDepth = 254.377245; finalDepth = 250.476357; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 129.961097 # Actual altitude: 100 # Commanded vehicle depth: 250.476357 # Seafloor depth: -300.476357 # 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 144 # Segment length 101.383602 meters # Minimum depth: 304.377245 meters looking forward 100.000000 meters along route # Maximum depth: 313.476326 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 254.377245 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799915; longitude = -121.886085; duration = 405; initialDepth = 253.944607; finalDepth = 254.377245; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.485913 # Actual altitude: 51.485913 # Commanded vehicle depth: 254.377245 # Seafloor depth: -305.863158 # 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 144 # Segment length 108.159500 meters # Minimum depth: 303.944607 meters looking forward 100.000000 meters along route # Maximum depth: 314.027848 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 253.944607 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800068; longitude = -121.884964; duration = 432; initialDepth = 254.452896; finalDepth = 253.944607; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 60.083241 # Actual altitude: 60.083241 # Commanded vehicle depth: 253.944607 # Seafloor depth: -314.027848 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.05; 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 143 # Segment length 94.153756 meters # Minimum depth: 304.452896 meters looking forward 100.000000 meters along route # Maximum depth: 321.198914 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 254.452896 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800231; longitude = -121.883769; duration = 376; # abortOnTimeout = True; initialDepth = 271.548627; finalDepth = 254.452896; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.083241 # Actual altitude: 60.083241 # Commanded vehicle depth: 254.452896 # Seafloor depth: -304.452896 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 143 # Segment length 102.737394 meters # Minimum depth: 321.548627 meters looking forward 100.000000 meters along route # Maximum depth: 334.526616 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 271.548627 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799698; longitude = -121.882948; duration = 410; initialDepth = 282.679568; finalDepth = 271.548627; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 271.548627 # Seafloor depth: -321.548627 # 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 143 # Segment length 100.438262 meters # Minimum depth: 332.679568 meters looking forward 100.000000 meters along route # Maximum depth: 339.929611 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 282.679568 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799117; longitude = -121.882051; duration = 401; initialDepth = 290.984608; finalDepth = 282.679568; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.805666 # Actual altitude: 52.805666 # Commanded vehicle depth: 282.679568 # Seafloor depth: -335.485234 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 143 # Segment length 100.781665 meters # Minimum depth: 340.984608 meters looking forward 100.000000 meters along route # Maximum depth: 351.830008 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 290.984608 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798548; longitude = -121.881175; duration = 403; initialDepth = 301.762612; finalDepth = 290.984608; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.805666 # Actual altitude: 52.805666 # Commanded vehicle depth: 290.984608 # Seafloor depth: -340.984608 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 142 # Segment length 81.645234 meters # Minimum depth: 351.762612 meters looking forward 100.000000 meters along route # Maximum depth: 366.174897 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 301.762612 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797978; longitude = -121.880296; duration = 326; # abortOnTimeout = True; initialDepth = 317.030456; finalDepth = 301.762612; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.701316 # Actual altitude: 50.701316 # Commanded vehicle depth: 301.762612 # Seafloor depth: -352.463928 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 142 # Segment length 100.768680 meters # Minimum depth: 367.030456 meters looking forward 100.000000 meters along route # Maximum depth: 402.776702 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 317.030456 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797467; longitude = -121.880954; duration = 403; initialDepth = 353.268843; finalDepth = 317.030456; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.701316 # Actual altitude: 50.701316 # Commanded vehicle depth: 317.030456 # Seafloor depth: -367.030456 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 142 # Segment length 100.769085 meters # Minimum depth: 403.268843 meters looking forward 100.000000 meters along route # Maximum depth: 421.829917 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 353.268843 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796836; longitude = -121.881767; duration = 403; initialDepth = 374.974245; finalDepth = 353.268843; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 353.268843 # Seafloor depth: -403.268843 # 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 142 # Segment length 101.245853 meters # Minimum depth: 424.974245 meters looking forward 100.000000 meters along route # Maximum depth: 430.028685 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 374.974245 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796205; longitude = -121.882579; duration = 404; initialDepth = 361.319020; finalDepth = 374.974245; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 374.974245 # Seafloor depth: -424.974245 # 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 142 # Segment length 100.293531 meters # Minimum depth: 411.319020 meters looking forward 100.000000 meters along route # Maximum depth: 427.689161 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 361.319020 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795571; longitude = -121.883396; duration = 401; initialDepth = 325.063695; finalDepth = 361.319020; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.370141 # Actual altitude: 66.370141 # Commanded vehicle depth: 361.31902 # Seafloor depth: -427.689161 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 142 # Segment length 100.770300 meters # Minimum depth: 375.063695 meters looking forward 100.000000 meters along route # Maximum depth: 409.894979 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 325.063695 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794943; longitude = -121.884204; duration = 403; initialDepth = 324.687730; finalDepth = 325.063695; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.831284 # Actual altitude: 84.831284 # Commanded vehicle depth: 325.063695 # Seafloor depth: -409.894979 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 50.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 142 # Segment length 104.609747 meters # Minimum depth: 374.687730 meters looking forward 100.000000 meters along route # Maximum depth: 380.327351 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 324.687730 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794313; longitude = -121.885017; duration = 418; initialDepth = 330.470260; finalDepth = 324.687730; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.831284 # Actual altitude: 84.831284 # Commanded vehicle depth: 324.68773 # Seafloor depth: -374.693229 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 50.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 142 # Segment length 106.479747 meters # Minimum depth: 380.470260 meters looking forward 100.000000 meters along route # Maximum depth: 381.236035 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 330.470260 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793658; longitude = -121.885860; duration = 425; initialDepth = 330.506157; finalDepth = 330.470260; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.058395 # Actual altitude: 50.058395 # Commanded vehicle depth: 330.47026 # Seafloor depth: -380.528655 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 141 # Segment length 77.016536 meters # Minimum depth: 380.506157 meters looking forward 100.000000 meters along route # Maximum depth: 381.733902 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 330.506157 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792991; longitude = -121.886719; duration = 308; # abortOnTimeout = True; initialDepth = 331.486631; finalDepth = 330.506157; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.058395 # Actual altitude: 50.058395 # Commanded vehicle depth: 330.506157 # Seafloor depth: -380.506157 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 141 # Segment length 104.021874 meters # Minimum depth: 381.486631 meters looking forward 100.000000 meters along route # Maximum depth: 383.484826 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 331.486631 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792643; longitude = -121.885972; duration = 416; initialDepth = 333.517059; finalDepth = 331.486631; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.316479 # Actual altitude: 50.316479 # Commanded vehicle depth: 331.486631 # Seafloor depth: -381.803110 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 141 # Segment length 104.536600 meters # Minimum depth: 383.517059 meters looking forward 100.000000 meters along route # Maximum depth: 384.907854 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 333.517059 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792172; longitude = -121.884964; duration = 418; initialDepth = 323.356076; finalDepth = 333.517059; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.316479 # Actual altitude: 50.316479 # Commanded vehicle depth: 333.517059 # Seafloor depth: -383.517059 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 141 # Segment length 103.508638 meters # Minimum depth: 373.356076 meters looking forward 100.000000 meters along route # Maximum depth: 384.906815 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 323.356076 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791699; longitude = -121.883951; duration = 414; initialDepth = 309.687982; finalDepth = 323.356076; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.550739 # Actual altitude: 61.550739 # Commanded vehicle depth: 323.356076 # Seafloor depth: -384.906815 # 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 141 # Segment length 104.023365 meters # Minimum depth: 359.687982 meters looking forward 100.000000 meters along route # Maximum depth: 372.839975 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 309.687982 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791231; longitude = -121.882948; duration = 416; initialDepth = 294.340682; finalDepth = 309.687982; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.151993 # Actual altitude: 63.151993 # Commanded vehicle depth: 309.687982 # Seafloor depth: -372.839975 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 141 # Segment length 104.023862 meters # Minimum depth: 344.340682 meters looking forward 100.000000 meters along route # Maximum depth: 358.824481 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 294.340682 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790760; longitude = -121.881939; duration = 416; initialDepth = 279.224378; finalDepth = 294.340682; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.483799 # Actual altitude: 64.483799 # Commanded vehicle depth: 294.340682 # Seafloor depth: -358.824481 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 141 # Segment length 106.750967 meters # Minimum depth: 329.224378 meters looking forward 100.000000 meters along route # Maximum depth: 342.591980 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 279.224378 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790289; longitude = -121.880931; duration = 427; initialDepth = 269.010485; finalDepth = 279.224378; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.483799 # Actual altitude: 64.483799 # Commanded vehicle depth: 279.224378 # Seafloor depth: -342.591980 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 141 # Segment length 101.298248 meters # Minimum depth: 319.010485 meters looking forward 100.000000 meters along route # Maximum depth: 328.882115 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 269.010485 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789806; longitude = -121.879896; duration = 405; initialDepth = 254.794073; finalDepth = 269.010485; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.367602 # Actual altitude: 63.367602 # Commanded vehicle depth: 269.010485 # Seafloor depth: -328.882115 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 141 # Segment length 104.025353 meters # Minimum depth: 304.794073 meters looking forward 100.000000 meters along route # Maximum depth: 318.823232 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 254.794073 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789348; longitude = -121.878914; duration = 416; initialDepth = 227.207147; finalDepth = 254.794073; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.029159 # Actual altitude: 64.029159 # Commanded vehicle depth: 254.794073 # Seafloor depth: -318.823232 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 141 # Segment length 100.200716 meters # Minimum depth: 277.207147 meters looking forward 100.000000 meters along route # Maximum depth: 303.462250 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 227.207147 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788877; longitude = -121.877906; duration = 400; initialDepth = 225.789383; finalDepth = 227.207147; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 76.255103 # Actual altitude: 76.255103 # Commanded vehicle depth: 227.207147 # Seafloor depth: -303.462250 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.75; 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 140 # Segment length 148.452184 meters # Minimum depth: 275.789383 meters looking forward 100.000000 meters along route # Maximum depth: 287.644251 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 225.789383 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788424; longitude = -121.876935; duration = 593; # abortOnTimeout = True; initialDepth = 229.670389; finalDepth = 225.789383; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.255103 # Actual altitude: 76.255103 # Commanded vehicle depth: 225.789383 # Seafloor depth: -275.789383 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 140 # Segment length 101.495630 meters # Minimum depth: 279.670389 meters looking forward 100.000000 meters along route # Maximum depth: 287.405266 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 229.670389 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788905; longitude = -121.875383; duration = 405; initialDepth = 228.301140; finalDepth = 229.670389; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.734877 # Actual altitude: 57.734877 # Commanded vehicle depth: 229.670389 # Seafloor depth: -287.405266 # 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 140 # Segment length 107.130833 meters # Minimum depth: 278.301140 meters looking forward 100.000000 meters along route # Maximum depth: 283.436548 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 228.301140 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789234; longitude = -121.874321; duration = 428; initialDepth = 235.160010; finalDepth = 228.301140; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.734877 # Actual altitude: 57.734877 # Commanded vehicle depth: 228.30114 # Seafloor depth: -278.983038 # 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 140 # Segment length 107.130439 meters # Minimum depth: 285.160010 meters looking forward 100.000000 meters along route # Maximum depth: 301.745093 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 235.160010 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789581; longitude = -121.873201; duration = 428; initialDepth = 254.055700; finalDepth = 235.160010; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.681898 # Actual altitude: 50.681898 # Commanded vehicle depth: 235.16001 # Seafloor depth: -285.160010 # 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 140 # Segment length 110.692546 meters # Minimum depth: 304.055700 meters looking forward 100.000000 meters along route # Maximum depth: 317.665903 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 254.055700 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789928; longitude = -121.872081; duration = 442; initialDepth = 266.686790; finalDepth = 254.055700; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 254.0557 # Seafloor depth: -304.055700 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 139 # Segment length 176.584005 meters # Minimum depth: 316.686790 meters looking forward 100.000000 meters along route # Maximum depth: 346.417962 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 266.686790 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790287; longitude = -121.870923; duration = 706; # abortOnTimeout = True; initialDepth = 298.617221; finalDepth = 266.686790; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 266.68679 # Seafloor depth: -316.686790 # 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 139 # Segment length 105.952579 meters # Minimum depth: 348.617221 meters looking forward 100.000000 meters along route # Maximum depth: 371.519660 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 298.617221 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791789; longitude = -121.871578; duration = 423; initialDepth = 321.563959; finalDepth = 298.617221; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 298.617221 # Seafloor depth: -348.617221 # 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 139 # Segment length 105.952449 meters # Minimum depth: 371.563959 meters looking forward 100.000000 meters along route # Maximum depth: 384.603954 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 321.563959 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792690; longitude = -121.871971; duration = 423; initialDepth = 335.106761; finalDepth = 321.563959; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 321.563959 # Seafloor depth: -371.563959 # 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 139 # Segment length 105.952318 meters # Minimum depth: 385.106761 meters looking forward 100.000000 meters along route # Maximum depth: 399.097426 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 335.106761 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793592; longitude = -121.872363; duration = 423; initialDepth = 305.067955; finalDepth = 335.106761; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 335.106761 # Seafloor depth: -385.106761 # 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 139 # Segment length 105.952186 meters # Minimum depth: 355.067955 meters looking forward 100.000000 meters along route # Maximum depth: 399.252168 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 305.067955 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794493; longitude = -121.872756; duration = 423; initialDepth = 263.584324; finalDepth = 305.067955; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 94.054838 # Actual altitude: 94.054838 # Commanded vehicle depth: 305.067955 # Seafloor depth: -399.122793 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 56.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 139 # Segment length 105.952056 meters # Minimum depth: 313.584324 meters looking forward 100.000000 meters along route # Maximum depth: 345.777495 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 263.584324 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795394; longitude = -121.873149; duration = 423; initialDepth = 263.871723; finalDepth = 263.584324; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 94.054838 # Actual altitude: 94.054838 # Commanded vehicle depth: 263.584324 # Seafloor depth: -345.777495 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 56.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 139 # Segment length 109.539837 meters # Minimum depth: 313.871723 meters looking forward 100.000000 meters along route # Maximum depth: 319.747321 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 263.871723 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796295; longitude = -121.873542; duration = 438; initialDepth = 252.971274; finalDepth = 263.871723; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 82.193171 # Actual altitude: 82.193171 # Commanded vehicle depth: 263.871723 # Seafloor depth: -313.871723 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 49.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 138 # Segment length 175.337538 meters # Minimum depth: 302.971274 meters looking forward 100.000000 meters along route # Maximum depth: 318.351189 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 252.971274 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797227; longitude = -121.873948; duration = 701; # abortOnTimeout = True; initialDepth = 242.743572; finalDepth = 252.971274; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.379915 # Actual altitude: 65.379915 # Commanded vehicle depth: 252.971274 # Seafloor depth: -318.351189 # 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 138 # Segment length 100.711592 meters # Minimum depth: 292.743572 meters looking forward 100.000000 meters along route # Maximum depth: 302.599104 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 242.743572 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797937; longitude = -121.872193; duration = 402; initialDepth = 237.268255; finalDepth = 242.743572; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.379915 # Actual altitude: 65.379915 # Commanded vehicle depth: 242.743572 # Seafloor depth: -302.599104 # 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 138 # Segment length 100.711189 meters # Minimum depth: 287.268255 meters looking forward 100.000000 meters along route # Maximum depth: 292.134291 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 237.268255 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798346; longitude = -121.871184; duration = 402; initialDepth = 236.418660; finalDepth = 237.268255; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.855532 # Actual altitude: 59.855532 # Commanded vehicle depth: 237.268255 # Seafloor depth: -292.134291 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 138 # Segment length 105.015963 meters # Minimum depth: 286.418660 meters looking forward 100.000000 meters along route # Maximum depth: 294.018767 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 236.418660 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798754; longitude = -121.870176; duration = 420; initialDepth = 239.282363; finalDepth = 236.418660; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.866036 # Actual altitude: 54.866036 # Commanded vehicle depth: 236.41866 # Seafloor depth: -286.977797 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 138 # Segment length 103.843230 meters # Minimum depth: 289.282363 meters looking forward 100.000000 meters along route # Maximum depth: 294.440935 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 239.282363 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799179; longitude = -121.869125; duration = 415; initialDepth = 239.282363; finalDepth = 239.282363; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.555936 # Actual altitude: 54.555936 # Commanded vehicle depth: 239.282363 # Seafloor depth: -293.838299 # 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 137 # Segment length 78.829206 meters # Minimum depth: 289.282363 meters looking forward 100.000000 meters along route # Maximum depth: 296.117961 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 239.282363 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799600; longitude = -121.868085; duration = 315; # abortOnTimeout = True; initialDepth = 246.627207; finalDepth = 239.282363; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.555936 # Actual altitude: 54.555936 # Commanded vehicle depth: 239.282363 # Seafloor depth: -289.446968 # 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 137 # Segment length 107.465969 meters # Minimum depth: 296.627207 meters looking forward 100.000000 meters along route # Maximum depth: 319.229566 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 246.627207 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799339; longitude = -121.867263; duration = 429; initialDepth = 271.309285; finalDepth = 246.627207; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1646050000001 # Actual altitude: 50.1646050000001 # Commanded vehicle depth: 246.627207 # Seafloor depth: -296.627207 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 137 # Segment length 104.156252 meters # Minimum depth: 321.309285 meters looking forward 100.000000 meters along route # Maximum depth: 334.789655 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 271.309285 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798983; longitude = -121.866143; duration = 416; initialDepth = 280.533420; finalDepth = 271.309285; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 271.309285 # Seafloor depth: -321.309285 # 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 137 # Segment length 100.030345 meters # Minimum depth: 330.533420 meters looking forward 100.000000 meters along route # Maximum depth: 342.532845 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 280.533420 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798638; longitude = -121.865057; duration = 400; initialDepth = 294.486001; finalDepth = 280.533420; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.54518 # Actual altitude: 52.54518 # Commanded vehicle depth: 280.53342 # Seafloor depth: -333.078600 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 137 # Segment length 107.467291 meters # Minimum depth: 344.486001 meters looking forward 100.000000 meters along route # Maximum depth: 361.580271 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 294.486001 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798307; longitude = -121.864014; duration = 429; initialDepth = 313.965236; finalDepth = 294.486001; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.54518 # Actual altitude: 52.54518 # Commanded vehicle depth: 294.486001 # Seafloor depth: -344.486001 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 137 # Segment length 107.467747 meters # Minimum depth: 363.965236 meters looking forward 100.000000 meters along route # Maximum depth: 367.927608 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 313.965236 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797952; longitude = -121.862894; duration = 429; initialDepth = 269.534556; finalDepth = 313.965236; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 313.965236 # Seafloor depth: -363.965236 # 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 137 # Segment length 107.468203 meters # Minimum depth: 319.534556 meters looking forward 100.000000 meters along route # Maximum depth: 366.876370 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 269.534556 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797596; longitude = -121.861774; duration = 429; initialDepth = 241.370230; finalDepth = 269.534556; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 97.022994 # Actual altitude: 97.022994 # Commanded vehicle depth: 269.534556 # Seafloor depth: -366.557550 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 58.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 137 # Segment length 103.923376 meters # Minimum depth: 291.370230 meters looking forward 100.000000 meters along route # Maximum depth: 316.013199 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 241.370230 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797240; longitude = -121.860653; duration = 415; initialDepth = 238.106230; finalDepth = 241.370230; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 97.022994 # Actual altitude: 97.022994 # Commanded vehicle depth: 241.37023 # Seafloor depth: -316.013199 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 58.21; 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 136 # Segment length 86.425601 meters # Minimum depth: 288.106230 meters looking forward 100.000000 meters along route # Maximum depth: 291.587392 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 238.106230 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796896; longitude = -121.859570; duration = 345; # abortOnTimeout = True; initialDepth = 233.513876; finalDepth = 238.106230; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.642969 # Actual altitude: 74.642969 # Commanded vehicle depth: 238.10623 # Seafloor depth: -291.491447 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 136 # Segment length 100.278120 meters # Minimum depth: 283.513876 meters looking forward 100.000000 meters along route # Maximum depth: 287.868091 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 233.513876 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797105; longitude = -121.858637; duration = 401; initialDepth = 226.487354; finalDepth = 233.513876; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 54.354215 # Actual altitude: 54.354215 # Commanded vehicle depth: 233.513876 # Seafloor depth: -287.868091 # 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 to get to end of line 135 # Segment length 121.359558 meters # Minimum depth: 276.487354 meters looking forward 100.000000 meters along route # Maximum depth: 283.778542 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 226.487354 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797347; longitude = -121.857554; duration = 485; # abortOnTimeout = True; initialDepth = 203.172393; finalDepth = 226.487354; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.792729 # Actual altitude: 56.792729 # Commanded vehicle depth: 226.487354 # Seafloor depth: -283.280083 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 135 # Segment length 102.364127 meters # Minimum depth: 253.172393 meters looking forward 100.000000 meters along route # Maximum depth: 274.623322 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 203.172393 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796385; longitude = -121.856906; duration = 409; initialDepth = 179.711517; finalDepth = 203.172393; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.450929 # Actual altitude: 71.450929 # Commanded vehicle depth: 203.172393 # Seafloor depth: -274.623322 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 135 # Segment length 102.364374 meters # Minimum depth: 229.711517 meters looking forward 100.000000 meters along route # Maximum depth: 251.617015 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 179.711517 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795574; longitude = -121.856359; duration = 409; initialDepth = 175.515394; finalDepth = 179.711517; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.905498 # Actual altitude: 71.905498 # Commanded vehicle depth: 179.711517 # Seafloor depth: -251.617015 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 135 # Segment length 102.364621 meters # Minimum depth: 225.515394 meters looking forward 100.000000 meters along route # Maximum depth: 229.260563 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 175.515394 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794763; longitude = -121.855812; duration = 409; initialDepth = 176.031181; finalDepth = 175.515394; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.905498 # Actual altitude: 71.905498 # Commanded vehicle depth: 175.515394 # Seafloor depth: -229.260563 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 135 # Segment length 109.923944 meters # Minimum depth: 226.031181 meters looking forward 100.000000 meters along route # Maximum depth: 228.929172 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 176.031181 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793952; longitude = -121.855265; duration = 439; initialDepth = 170.870464; finalDepth = 176.031181; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 53.745169 # Actual altitude: 53.745169 # Commanded vehicle depth: 176.031181 # Seafloor depth: -226.117901 # 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 to get to end of line 134 # Segment length 179.267788 meters # Minimum depth: 220.870464 meters looking forward 100.000000 meters along route # Maximum depth: 226.463943 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 170.870464 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793081; longitude = -121.854678; duration = 717; # abortOnTimeout = True; initialDepth = 164.517501; finalDepth = 170.870464; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.593479 # Actual altitude: 55.593479 # Commanded vehicle depth: 170.870464 # Seafloor depth: -226.463943 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 134 # Segment length 107.581086 meters # Minimum depth: 214.517501 meters looking forward 100.000000 meters along route # Maximum depth: 220.400720 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 164.517501 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792484; longitude = -121.852811; duration = 430; initialDepth = 150.810021; finalDepth = 164.517501; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.883219 # Actual altitude: 55.883219 # Commanded vehicle depth: 164.517501 # Seafloor depth: -220.400720 # 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 134 # Segment length 107.581545 meters # Minimum depth: 200.810021 meters looking forward 100.000000 meters along route # Maximum depth: 213.822190 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 150.810021 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792125; longitude = -121.851691; duration = 430; initialDepth = 144.894863; finalDepth = 150.810021; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.012169 # Actual altitude: 63.012169 # Commanded vehicle depth: 150.810021 # Seafloor depth: -213.822190 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 134 # Segment length 107.582003 meters # Minimum depth: 194.894863 meters looking forward 100.000000 meters along route # Maximum depth: 200.689581 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 144.894863 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791767; longitude = -121.850571; duration = 430; initialDepth = 147.503779; finalDepth = 144.894863; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.012169 # Actual altitude: 63.012169 # Commanded vehicle depth: 144.894863 # Seafloor depth: -199.717861 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 134 # Segment length 107.582463 meters # Minimum depth: 197.503779 meters looking forward 100.000000 meters along route # Maximum depth: 205.946767 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 147.503779 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791409; longitude = -121.849450; duration = 430; initialDepth = 140.448019; finalDepth = 147.503779; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.822998 # Actual altitude: 54.822998 # Commanded vehicle depth: 147.503779 # Seafloor depth: -201.712020 # 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 134 # Segment length 107.582922 meters # Minimum depth: 190.448019 meters looking forward 100.000000 meters along route # Maximum depth: 197.049720 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 140.448019 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791050; longitude = -121.848330; duration = 430; initialDepth = 140.187481; finalDepth = 140.448019; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.601701 # Actual altitude: 56.601701 # Commanded vehicle depth: 140.448019 # Seafloor depth: -197.049720 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 134 # Segment length 107.583381 meters # Minimum depth: 190.187481 meters looking forward 100.000000 meters along route # Maximum depth: 194.269530 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 140.187481 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790692; longitude = -121.847210; duration = 430; initialDepth = 141.441570; finalDepth = 140.187481; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.601701 # Actual altitude: 56.601701 # Commanded vehicle depth: 140.187481 # Seafloor depth: -190.187481 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 134 # Segment length 104.187286 meters # Minimum depth: 191.441570 meters looking forward 100.000000 meters along route # Maximum depth: 193.368252 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 141.441570 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790334; longitude = -121.846089; duration = 416; initialDepth = 143.378689; finalDepth = 141.441570; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.326466 # Actual altitude: 50.326466 # Commanded vehicle depth: 141.44157 # Seafloor depth: -191.768036 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 134 # Segment length 100.222403 meters # Minimum depth: 193.378689 meters looking forward 100.000000 meters along route # Maximum depth: 196.906969 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 143.378689 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789987; longitude = -121.845004; duration = 400; initialDepth = 141.604338; finalDepth = 143.378689; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.326466 # Actual altitude: 50.326466 # Commanded vehicle depth: 143.378689 # Seafloor depth: -193.378689 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 134 # Segment length 107.584713 meters # Minimum depth: 191.604338 meters looking forward 100.000000 meters along route # Maximum depth: 195.747347 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 141.604338 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789653; longitude = -121.843961; duration = 430; initialDepth = 148.126073; finalDepth = 141.604338; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.251345 # Actual altitude: 53.251345 # Commanded vehicle depth: 141.604338 # Seafloor depth: -194.855683 # 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 134 # Segment length 107.585172 meters # Minimum depth: 198.126073 meters looking forward 100.000000 meters along route # Maximum depth: 200.963639 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 148.126073 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789294; longitude = -121.842840; duration = 430; initialDepth = 140.343587; finalDepth = 148.126073; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.251345 # Actual altitude: 53.251345 # Commanded vehicle depth: 148.126073 # Seafloor depth: -198.391606 # 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 134 # Segment length 107.585631 meters # Minimum depth: 190.343587 meters looking forward 100.000000 meters along route # Maximum depth: 199.901515 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 140.343587 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788936; longitude = -121.841720; duration = 430; initialDepth = 134.619778; finalDepth = 140.343587; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.557928 # Actual altitude: 59.557928 # Commanded vehicle depth: 140.343587 # Seafloor depth: -199.901515 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 134 # Segment length 107.586091 meters # Minimum depth: 184.619778 meters looking forward 100.000000 meters along route # Maximum depth: 191.089071 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 134.619778 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788578; longitude = -121.840600; duration = 430; initialDepth = 125.782003; finalDepth = 134.619778; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.557928 # Actual altitude: 59.557928 # Commanded vehicle depth: 134.619778 # Seafloor depth: -190.304984 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 134 # Segment length 107.586549 meters # Minimum depth: 175.782003 meters looking forward 100.000000 meters along route # Maximum depth: 183.934398 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 125.782003 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788219; longitude = -121.839479; duration = 430; initialDepth = 107.209602; finalDepth = 125.782003; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.685206 # Actual altitude: 55.685206 # Commanded vehicle depth: 125.782003 # Seafloor depth: -180.912838 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 134 # Segment length 107.587009 meters # Minimum depth: 157.209602 meters looking forward 100.000000 meters along route # Maximum depth: 173.798550 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 107.209602 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787861; longitude = -121.838359; duration = 430; initialDepth = 80.934584; finalDepth = 107.209602; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.588948 # Actual altitude: 66.588948 # Commanded vehicle depth: 107.209602 # Seafloor depth: -173.798550 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.95; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 134 # Segment length 107.587469 meters # Minimum depth: 130.934584 meters looking forward 100.000000 meters along route # Maximum depth: 153.360068 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 80.934584 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787502; longitude = -121.837239; duration = 430; initialDepth = 86.410672; finalDepth = 80.934584; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.425484 # Actual altitude: 72.425484 # Commanded vehicle depth: 80.934584 # Seafloor depth: -153.360068 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 134 # Segment length 107.587928 meters # Minimum depth: 136.410672 meters looking forward 100.000000 meters along route # Maximum depth: 145.254227 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 86.410672 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787144; longitude = -121.836118; duration = 430; initialDepth = 67.430291; finalDepth = 86.410672; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.425484 # Actual altitude: 72.425484 # Commanded vehicle depth: 86.410672 # Seafloor depth: -136.410672 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 134 # Segment length 107.588387 meters # Minimum depth: 117.430291 meters looking forward 100.000000 meters along route # Maximum depth: 140.048666 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 67.430291 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786786; longitude = -121.834998; duration = 430; initialDepth = 67.284557; finalDepth = 67.430291; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.618375 # Actual altitude: 72.618375 # Commanded vehicle depth: 67.430291 # Seafloor depth: -140.048666 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 134 # Segment length 103.988843 meters # Minimum depth: 117.284557 meters looking forward 100.000000 meters along route # Maximum depth: 137.985036 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 67.284557 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786427; longitude = -121.833878; duration = 415; initialDepth = 87.898048; finalDepth = 67.284557; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 72.618375 # Actual altitude: 72.618375 # Commanded vehicle depth: 67.284557 # Seafloor depth: -117.284557 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.57; 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 133 # Segment length 126.761480 meters # Minimum depth: 137.898048 meters looking forward 100.000000 meters along route # Maximum depth: 154.233811 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 87.898048 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786081; longitude = -121.832795; duration = 507; # abortOnTimeout = True; initialDepth = 104.577570; finalDepth = 87.898048; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 87.898048 # Seafloor depth: -137.898048 # 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 133 # Segment length 103.501689 meters # Minimum depth: 154.577570 meters looking forward 100.000000 meters along route # Maximum depth: 159.678363 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 104.577570 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786346; longitude = -121.831413; duration = 414; initialDepth = 109.826471; finalDepth = 104.577570; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 104.57757 # Seafloor depth: -154.577570 # 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 133 # Segment length 102.035454 meters # Minimum depth: 159.826471 meters looking forward 100.000000 meters along route # Maximum depth: 166.902784 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 109.826471 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786562; longitude = -121.830285; duration = 408; initialDepth = 110.132377; finalDepth = 109.826471; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 109.826471 # Seafloor depth: -159.826471 # 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 133 # Segment length 102.768205 meters # Minimum depth: 160.132377 meters looking forward 100.000000 meters along route # Maximum depth: 166.742982 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 110.132377 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786775; longitude = -121.829173; duration = 411; initialDepth = 84.146817; finalDepth = 110.132377; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.214249 # Actual altitude: 53.214249 # Commanded vehicle depth: 110.132377 # Seafloor depth: -163.346626 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 133 # Segment length 102.767960 meters # Minimum depth: 134.146817 meters looking forward 100.000000 meters along route # Maximum depth: 159.931789 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 84.146817 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786990; longitude = -121.828052; duration = 411; initialDepth = 76.162619; finalDepth = 84.146817; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.784972 # Actual altitude: 75.784972 # Commanded vehicle depth: 84.146817 # Seafloor depth: -159.931789 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 133 # Segment length 109.607223 meters # Minimum depth: 126.162619 meters looking forward 100.000000 meters along route # Maximum depth: 137.012564 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 76.162619 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787204; longitude = -121.826932; duration = 438; initialDepth = 64.450232; finalDepth = 76.162619; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75.784972 # Actual altitude: 75.784972 # Commanded vehicle depth: 76.162619 # Seafloor depth: -130.928867 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.47; 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 132 # Segment length 129.709427 meters # Minimum depth: 114.450232 meters looking forward 100.000000 meters along route # Maximum depth: 127.904948 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.450232 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787433; longitude = -121.825737; duration = 518; # abortOnTimeout = True; initialDepth = 59.128368; finalDepth = 64.450232; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.841634 # Actual altitude: 60.841634 # Commanded vehicle depth: 64.450232 # Seafloor depth: -125.291866 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 132 # Segment length 100.415850 meters # Minimum depth: 109.128368 meters looking forward 100.000000 meters along route # Maximum depth: 114.822026 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.128368 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788364; longitude = -121.824858; duration = 401; initialDepth = 59.713117; finalDepth = 59.128368; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.841634 # Actual altitude: 60.841634 # Commanded vehicle depth: 59.128368 # Seafloor depth: -114.751851 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 132 # Segment length 100.415530 meters # Minimum depth: 109.713117 meters looking forward 100.000000 meters along route # Maximum depth: 139.388939 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.713117 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789085; longitude = -121.824178; duration = 401; initialDepth = 60.566942; finalDepth = 59.713117; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.623483 # Actual altitude: 55.623483 # Commanded vehicle depth: 59.713117 # Seafloor depth: -109.713117 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 132 # Segment length 100.415209 meters # Minimum depth: 110.566942 meters looking forward 100.000000 meters along route # Maximum depth: 138.806097 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.566942 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789806; longitude = -121.823498; duration = 401; initialDepth = 61.310243; finalDepth = 60.566942; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.239155 # Actual altitude: 78.239155 # Commanded vehicle depth: 60.566942 # Seafloor depth: -138.806097 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 132 # Segment length 100.414889 meters # Minimum depth: 111.310243 meters looking forward 100.000000 meters along route # Maximum depth: 131.145998 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.310243 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790527; longitude = -121.822817; duration = 401; initialDepth = 67.672682; finalDepth = 61.310243; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.239155 # Actual altitude: 78.239155 # Commanded vehicle depth: 61.310243 # Seafloor depth: -111.310243 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 132 # Segment length 100.414568 meters # Minimum depth: 117.672682 meters looking forward 100.000000 meters along route # Maximum depth: 131.076599 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 67.672682 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791248; longitude = -121.822137; duration = 401; initialDepth = 68.756861; finalDepth = 67.672682; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.25381 # Actual altitude: 63.25381 # Commanded vehicle depth: 67.672682 # Seafloor depth: -130.926492 # 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 132 # Segment length 100.414247 meters # Minimum depth: 118.756861 meters looking forward 100.000000 meters along route # Maximum depth: 125.113325 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 68.756861 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791969; longitude = -121.821457; duration = 401; initialDepth = 72.989317; finalDepth = 68.756861; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.25381 # Actual altitude: 63.25381 # Commanded vehicle depth: 68.756861 # Seafloor depth: -119.038957 # 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 132 # Segment length 100.413927 meters # Minimum depth: 122.989317 meters looking forward 100.000000 meters along route # Maximum depth: 127.886097 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 72.989317 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792690; longitude = -121.820777; duration = 401; initialDepth = 67.935252; finalDepth = 72.989317; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.194744 # Actual altitude: 52.194744 # Commanded vehicle depth: 72.989317 # Seafloor depth: -125.184061 # 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 132 # Segment length 104.555327 meters # Minimum depth: 117.935252 meters looking forward 100.000000 meters along route # Maximum depth: 122.963723 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 67.935252 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793411; longitude = -121.820096; duration = 418; initialDepth = 67.720877; finalDepth = 67.935252; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 55.028471 # Actual altitude: 55.028471 # Commanded vehicle depth: 67.935252 # Seafloor depth: -122.963723 # 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 131 # Segment length 167.649848 meters # Minimum depth: 117.720877 meters looking forward 100.000000 meters along route # Maximum depth: 141.855692 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 67.720877 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794162; longitude = -121.819388; duration = 670; # abortOnTimeout = True; initialDepth = 84.154210; finalDepth = 67.720877; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.028471 # Actual altitude: 55.028471 # Commanded vehicle depth: 67.720877 # Seafloor depth: -117.720877 # 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 during line 131 # Segment length 100.569639 meters # Minimum depth: 134.154210 meters looking forward 100.000000 meters along route # Maximum depth: 142.438770 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 84.154210 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795664; longitude = -121.819186; duration = 402; initialDepth = 88.073282; finalDepth = 84.154210; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.28456 # Actual altitude: 58.28456 # Commanded vehicle depth: 84.15421 # Seafloor depth: -142.438770 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 131 # Segment length 103.933751 meters # Minimum depth: 138.073282 meters looking forward 100.000000 meters along route # Maximum depth: 148.861763 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 88.073282 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796566; longitude = -121.819065; duration = 415; initialDepth = 92.961380; finalDepth = 88.073282; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 58.28456 # Actual altitude: 58.28456 # Commanded vehicle depth: 88.073282 # Seafloor depth: -138.073282 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 130 # Segment length 123.510049 meters # Minimum depth: 142.961380 meters looking forward 100.000000 meters along route # Maximum depth: 158.593908 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 92.961380 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797497; longitude = -121.818940; duration = 494; # abortOnTimeout = True; initialDepth = 108.775080; finalDepth = 92.961380; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 92.96138 # Seafloor depth: -142.961380 # 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 130 # Segment length 106.820985 meters # Minimum depth: 158.775080 meters looking forward 100.000000 meters along route # Maximum depth: 178.207140 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 108.775080 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797917; longitude = -121.820222; duration = 427; initialDepth = 128.518535; finalDepth = 108.775080; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 108.77508 # Seafloor depth: -158.775080 # 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 130 # Segment length 107.953604 meters # Minimum depth: 178.518535 meters looking forward 100.000000 meters along route # Maximum depth: 198.905148 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 128.518535 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798281; longitude = -121.821330; duration = 431; initialDepth = 97.916403; finalDepth = 128.518535; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 128.518535 # Seafloor depth: -178.518535 # 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 130 # Segment length 102.899636 meters # Minimum depth: 147.916403 meters looking forward 100.000000 meters along route # Maximum depth: 199.032964 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 97.916403 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798649; longitude = -121.822451; duration = 411; initialDepth = 64.793703; finalDepth = 97.916403; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 101.116561 # Actual altitude: 100 # Commanded vehicle depth: 97.916403 # Seafloor depth: -199.032964 # 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 130 # Segment length 102.210919 meters # Minimum depth: 114.793703 meters looking forward 100.000000 meters along route # Maximum depth: 145.981037 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.793703 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798999; longitude = -121.823518; duration = 408; initialDepth = 3.000000; finalDepth = 64.793703; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 101.116561 # Actual altitude: 100 # Commanded vehicle depth: 64.793703 # Seafloor depth: -145.981037 # 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 130 # Segment length 100.770730 meters # Minimum depth: 51.106080 meters looking forward 100.000000 meters along route # Maximum depth: 108.950001 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799347; longitude = -121.824579; duration = 403; initialDepth = 3.000000; finalDepth = 3.000000; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 105.950001 # Actual altitude: 100 # Commanded vehicle depth: 3 # Seafloor depth: -108.950001 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 129 # Segment length 76.695796 meters # Minimum depth: 50.462322 meters looking forward 100.000000 meters along route # Maximum depth: 56.406881 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799690; longitude = -121.825625; duration = 306; # abortOnTimeout = True; initialDepth = 3.587914; finalDepth = 3.000000; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 105.950001 # Actual altitude: 100 # Commanded vehicle depth: 3 # Seafloor depth: -50.462322 # 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 129 # Segment length 100.025540 meters # Minimum depth: 53.587914 meters looking forward 100.000000 meters along route # Maximum depth: 72.621911 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3.587914 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798999; longitude = -121.825649; duration = 400; initialDepth = 18.784696; finalDepth = 3.587914; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3.587914 # Seafloor depth: -53.587914 # 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 129 # Segment length 100.025525 meters # Minimum depth: 68.784696 meters looking forward 100.000000 meters along route # Maximum depth: 74.398052 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 18.784696 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798098; longitude = -121.825679; duration = 400; initialDepth = 27.139878; finalDepth = 18.784696; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.854385 # Actual altitude: 53.854385 # Commanded vehicle depth: 18.784696 # Seafloor depth: -72.639081 # 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 129 # Segment length 100.025510 meters # Minimum depth: 77.139878 meters looking forward 100.000000 meters along route # Maximum depth: 96.821730 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 27.139878 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797196; longitude = -121.825710; duration = 400; initialDepth = 48.514719; finalDepth = 27.139878; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.854385 # Actual altitude: 53.854385 # Commanded vehicle depth: 27.139878 # Seafloor depth: -77.139878 # 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 129 # Segment length 106.684546 meters # Minimum depth: 98.514719 meters looking forward 100.000000 meters along route # Maximum depth: 124.497271 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 48.514719 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796295; longitude = -121.825741; duration = 426; initialDepth = 75.553199; finalDepth = 48.514719; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 48.514719 # Seafloor depth: -98.514719 # 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 to get to end of line 128 # Segment length 106.076572 meters # Minimum depth: 125.553199 meters looking forward 100.000000 meters along route # Maximum depth: 135.608153 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 75.553199 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795334; longitude = -121.825774; duration = 424; # abortOnTimeout = True; initialDepth = 86.642372; finalDepth = 75.553199; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.051146 # Actual altitude: 51.051146 # Commanded vehicle depth: 75.553199 # Seafloor depth: -126.604345 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 128 # Segment length 106.083029 meters # Minimum depth: 136.642372 meters looking forward 100.000000 meters along route # Maximum depth: 143.190301 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 86.642372 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794673; longitude = -121.826633; duration = 424; initialDepth = 93.725527; finalDepth = 86.642372; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.051146 # Actual altitude: 51.051146 # Commanded vehicle depth: 86.642372 # Seafloor depth: -136.642372 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 128 # Segment length 106.074362 meters # Minimum depth: 143.725527 meters looking forward 100.000000 meters along route # Maximum depth: 150.888362 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 93.725527 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794012; longitude = -121.827492; duration = 424; initialDepth = 100.875602; finalDepth = 93.725527; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 93.725527 # Seafloor depth: -143.725527 # 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 to get to end of line 127 # Segment length 79.280960 meters # Minimum depth: 150.875602 meters looking forward 100.000000 meters along route # Maximum depth: 156.239371 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 100.875602 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793351; longitude = -121.828351; duration = 317; # abortOnTimeout = True; initialDepth = 108.529811; finalDepth = 100.875602; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.535882 # Actual altitude: 50.535882 # Commanded vehicle depth: 100.875602 # Seafloor depth: -151.411484 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 127 # Segment length 104.468544 meters # Minimum depth: 158.529811 meters looking forward 100.000000 meters along route # Maximum depth: 163.929996 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 108.529811 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793079; longitude = -121.829173; duration = 417; initialDepth = 98.536721; finalDepth = 108.529811; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50.535882 # Actual altitude: 50.535882 # Commanded vehicle depth: 108.529811 # Seafloor depth: -158.529811 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 126 # Segment length 122.848201 meters # Minimum depth: 148.536721 meters looking forward 100.000000 meters along route # Maximum depth: 161.207626 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 98.536721 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792720; longitude = -121.830255; duration = 491; # abortOnTimeout = True; initialDepth = 105.035871; finalDepth = 98.536721; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.670905 # Actual altitude: 62.670905 # Commanded vehicle depth: 98.536721 # Seafloor depth: -161.207626 # 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 126 # Segment length 107.760333 meters # Minimum depth: 155.035871 meters looking forward 100.000000 meters along route # Maximum depth: 163.619277 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 105.035871 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793141; longitude = -121.831528; duration = 431; initialDepth = 111.858871; finalDepth = 105.035871; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.670905 # Actual altitude: 62.670905 # Commanded vehicle depth: 105.035871 # Seafloor depth: -155.035871 # 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 126 # Segment length 102.676418 meters # Minimum depth: 161.858871 meters looking forward 100.000000 meters along route # Maximum depth: 179.171010 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 111.858871 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793510; longitude = -121.832645; duration = 410; initialDepth = 130.371031; finalDepth = 111.858871; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.747932 # Actual altitude: 50.747932 # Commanded vehicle depth: 111.858871 # Seafloor depth: -162.606803 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 126 # Segment length 105.217705 meters # Minimum depth: 180.371031 meters looking forward 100.000000 meters along route # Maximum depth: 192.539255 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 130.371031 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793862; longitude = -121.833710; duration = 420; initialDepth = 137.646903; finalDepth = 130.371031; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.747932 # Actual altitude: 50.747932 # Commanded vehicle depth: 130.371031 # Seafloor depth: -180.371031 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 126 # Segment length 105.523399 meters # Minimum depth: 187.646903 meters looking forward 100.000000 meters along route # Maximum depth: 192.934286 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 137.646903 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794222; longitude = -121.834801; duration = 422; initialDepth = 141.457314; finalDepth = 137.646903; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.09731 # Actual altitude: 53.09731 # Commanded vehicle depth: 137.646903 # Seafloor depth: -190.744213 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 126 # Segment length 108.074087 meters # Minimum depth: 191.457314 meters looking forward 100.000000 meters along route # Maximum depth: 205.549389 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 141.457314 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794584; longitude = -121.835894; duration = 432; initialDepth = 155.141496; finalDepth = 141.457314; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.09731 # Actual altitude: 53.09731 # Commanded vehicle depth: 141.457314 # Seafloor depth: -191.457314 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 126 # Segment length 102.052946 meters # Minimum depth: 205.141496 meters looking forward 100.000000 meters along route # Maximum depth: 215.723579 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 155.141496 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794954; longitude = -121.837015; duration = 408; initialDepth = 164.168546; finalDepth = 155.141496; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 155.141496 # Seafloor depth: -205.141496 # 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 126 # Segment length 105.215916 meters # Minimum depth: 214.168546 meters looking forward 100.000000 meters along route # Maximum depth: 216.039166 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 164.168546 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795304; longitude = -121.838073; duration = 420; initialDepth = 164.609632; finalDepth = 164.168546; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.561132 # Actual altitude: 51.561132 # Commanded vehicle depth: 164.168546 # Seafloor depth: -215.729678 # 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 126 # Segment length 106.143324 meters # Minimum depth: 214.609632 meters looking forward 100.000000 meters along route # Maximum depth: 221.487939 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 164.609632 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795664; longitude = -121.839163; duration = 424; initialDepth = 157.380889; finalDepth = 164.609632; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.561132 # Actual altitude: 51.561132 # Commanded vehicle depth: 164.609632 # Seafloor depth: -214.609632 # 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 126 # Segment length 108.072247 meters # Minimum depth: 207.380889 meters looking forward 100.000000 meters along route # Maximum depth: 220.072484 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 157.380889 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796028; longitude = -121.840264; duration = 432; initialDepth = 154.602329; finalDepth = 157.380889; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.691595 # Actual altitude: 62.691595 # Commanded vehicle depth: 157.380889 # Seafloor depth: -220.072484 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 126 # Segment length 108.071776 meters # Minimum depth: 204.602329 meters looking forward 100.000000 meters along route # Maximum depth: 207.156665 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 154.602329 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796398; longitude = -121.841384; duration = 432; initialDepth = 154.200165; finalDepth = 154.602329; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.691595 # Actual altitude: 62.691595 # Commanded vehicle depth: 154.602329 # Seafloor depth: -207.156665 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 126 # Segment length 108.071305 meters # Minimum depth: 204.200165 meters looking forward 100.000000 meters along route # Maximum depth: 213.955728 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 154.200165 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796769; longitude = -121.842504; duration = 432; initialDepth = 165.826210; finalDepth = 154.200165; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.554336 # Actual altitude: 52.554336 # Commanded vehicle depth: 154.200165 # Seafloor depth: -204.613059 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 126 # Segment length 104.512836 meters # Minimum depth: 215.826210 meters looking forward 100.000000 meters along route # Maximum depth: 230.956714 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 165.826210 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797139; longitude = -121.843625; duration = 418; initialDepth = 180.889201; finalDepth = 165.826210; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.412894 # Actual altitude: 50.412894 # Commanded vehicle depth: 165.82621 # Seafloor depth: -215.826210 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 125 # Segment length 84.624314 meters # Minimum depth: 230.889201 meters looking forward 100.000000 meters along route # Maximum depth: 234.150741 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 180.889201 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797497; longitude = -121.844708; duration = 338; # abortOnTimeout = True; initialDepth = 179.878944; finalDepth = 180.889201; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.173227 # Actual altitude: 50.173227 # Commanded vehicle depth: 180.889201 # Seafloor depth: -231.062428 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 125 # Segment length 101.534912 meters # Minimum depth: 229.878944 meters looking forward 100.000000 meters along route # Maximum depth: 234.859366 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 179.878944 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796746; longitude = -121.844873; duration = 406; initialDepth = 183.977832; finalDepth = 179.878944; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.651863 # Actual altitude: 50.651863 # Commanded vehicle depth: 179.878944 # Seafloor depth: -230.530807 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 125 # Segment length 101.534929 meters # Minimum depth: 233.977832 meters looking forward 100.000000 meters along route # Maximum depth: 261.233042 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 183.977832 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795845; longitude = -121.845071; duration = 406; initialDepth = 216.989297; finalDepth = 183.977832; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.651863 # Actual altitude: 50.651863 # Commanded vehicle depth: 183.977832 # Seafloor depth: -234.027613 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 125 # Segment length 101.534945 meters # Minimum depth: 266.989297 meters looking forward 100.000000 meters along route # Maximum depth: 290.075390 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 216.989297 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794943; longitude = -121.845269; duration = 406; initialDepth = 240.419862; finalDepth = 216.989297; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.049781 # Actual altitude: 50.049781 # Commanded vehicle depth: 216.989297 # Seafloor depth: -266.989297 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 125 # Segment length 101.534963 meters # Minimum depth: 290.419862 meters looking forward 100.000000 meters along route # Maximum depth: 291.878998 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 240.419862 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794042; longitude = -121.845467; duration = 406; initialDepth = 212.660450; finalDepth = 240.419862; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 240.419862 # Seafloor depth: -290.419862 # 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 125 # Segment length 102.853372 meters # Minimum depth: 262.660450 meters looking forward 100.000000 meters along route # Maximum depth: 291.560144 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 212.660450 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793141; longitude = -121.845665; duration = 411; initialDepth = 177.093900; finalDepth = 212.660450; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.84709 # Actual altitude: 78.84709 # Commanded vehicle depth: 212.66045 # Seafloor depth: -291.507540 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 47.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 125 # Segment length 100.216603 meters # Minimum depth: 227.093900 meters looking forward 100.000000 meters along route # Maximum depth: 265.030531 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 177.093900 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792228; longitude = -121.845865; duration = 400; initialDepth = 147.739929; finalDepth = 177.093900; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.936631 # Actual altitude: 87.936631 # Commanded vehicle depth: 177.0939 # Seafloor depth: -265.030531 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 52.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 125 # Segment length 101.535013 meters # Minimum depth: 197.739929 meters looking forward 100.000000 meters along route # Maximum depth: 225.495218 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 147.739929 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791338; longitude = -121.846061; duration = 406; initialDepth = 110.131198; finalDepth = 147.739929; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.936631 # Actual altitude: 87.936631 # Commanded vehicle depth: 147.739929 # Seafloor depth: -225.495218 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 52.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 125 # Segment length 104.907270 meters # Minimum depth: 160.131198 meters looking forward 100.000000 meters along route # Maximum depth: 194.379973 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 110.131198 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790437; longitude = -121.846258; duration = 419; initialDepth = 109.169495; finalDepth = 110.131198; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 84.248775 # Actual altitude: 84.248775 # Commanded vehicle depth: 110.131198 # Seafloor depth: -194.379973 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 50.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 124 # Segment length 179.601680 meters # Minimum depth: 159.169495 meters looking forward 100.000000 meters along route # Maximum depth: 180.789957 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 109.169495 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789506; longitude = -121.846463; duration = 718; # abortOnTimeout = True; initialDepth = 132.238801; finalDepth = 109.169495; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.248775 # Actual altitude: 84.248775 # Commanded vehicle depth: 109.169495 # Seafloor depth: -159.169495 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 50.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 124 # Segment length 107.777687 meters # Minimum depth: 182.238801 meters looking forward 100.000000 meters along route # Maximum depth: 192.678904 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 132.238801 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790111; longitude = -121.848330; duration = 431; initialDepth = 142.869410; finalDepth = 132.238801; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 132.238801 # Seafloor depth: -182.238801 # 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 124 # Segment length 107.777223 meters # Minimum depth: 192.869410 meters looking forward 100.000000 meters along route # Maximum depth: 199.822699 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 142.869410 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790474; longitude = -121.849450; duration = 431; initialDepth = 151.028379; finalDepth = 142.869410; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 142.86941 # Seafloor depth: -192.869410 # 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 124 # Segment length 104.136764 meters # Minimum depth: 201.028379 meters looking forward 100.000000 meters along route # Maximum depth: 209.011021 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 151.028379 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790837; longitude = -121.850571; duration = 416; initialDepth = 159.394211; finalDepth = 151.028379; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 151.028379 # Seafloor depth: -201.028379 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 123 # Segment length 117.041247 meters # Minimum depth: 209.394211 meters looking forward 100.000000 meters along route # Maximum depth: 214.296592 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 159.394211 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791188; longitude = -121.851653; duration = 468; # abortOnTimeout = True; initialDepth = 154.694286; finalDepth = 159.394211; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 159.394211 # Seafloor depth: -209.394211 # 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 123 # Segment length 100.301274 meters # Minimum depth: 204.694286 meters looking forward 100.000000 meters along route # Maximum depth: 212.017479 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 154.694286 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792240; longitude = -121.851549; duration = 401; initialDepth = 154.784570; finalDepth = 154.694286; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.323193 # Actual altitude: 57.323193 # Commanded vehicle depth: 154.694286 # Seafloor depth: -212.017479 # 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 123 # Segment length 100.301282 meters # Minimum depth: 204.784570 meters looking forward 100.000000 meters along route # Maximum depth: 228.081092 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 154.784570 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793141; longitude = -121.851460; duration = 401; initialDepth = 187.773367; finalDepth = 154.784570; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.323193 # Actual altitude: 57.323193 # Commanded vehicle depth: 154.78457 # Seafloor depth: -204.784570 # 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 123 # Segment length 100.301293 meters # Minimum depth: 237.773367 meters looking forward 100.000000 meters along route # Maximum depth: 290.008464 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 187.773367 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794042; longitude = -121.851371; duration = 401; initialDepth = 224.280051; finalDepth = 187.773367; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 187.773367 # Seafloor depth: -237.773367 # 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 123 # Segment length 100.301301 meters # Minimum depth: 295.386198 meters looking forward 100.000000 meters along route # Maximum depth: 312.975321 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 224.280051 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794943; longitude = -121.851283; duration = 401; initialDepth = 256.225300; finalDepth = 224.280051; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.1061465659428 # Actual altitude: 71.1061465659428 # Commanded vehicle depth: 224.280051434057 # Seafloor depth: -295.386198 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 123 # Segment length 100.301311 meters # Minimum depth: 306.225300 meters looking forward 100.000000 meters along route # Maximum depth: 313.370316 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 256.225300 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795845; longitude = -121.851194; duration = 401; initialDepth = 227.227127; finalDepth = 256.225300; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.1061465659428 # Actual altitude: 71.1061465659428 # Commanded vehicle depth: 256.2253 # Seafloor depth: -313.370316 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 123 # Segment length 100.301321 meters # Minimum depth: 277.227127 meters looking forward 100.000000 meters along route # Maximum depth: 304.139499 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 227.227127 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796746; longitude = -121.851105; duration = 401; initialDepth = 219.185187; finalDepth = 227.227127; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.912372 # Actual altitude: 76.912372 # Commanded vehicle depth: 227.227127 # Seafloor depth: -304.139499 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 123 # Segment length 100.301330 meters # Minimum depth: 269.185187 meters looking forward 100.000000 meters along route # Maximum depth: 276.719412 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 219.185187 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797647; longitude = -121.851016; duration = 401; initialDepth = 216.577196; finalDepth = 219.185187; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.912372 # Actual altitude: 76.912372 # Commanded vehicle depth: 219.185187 # Seafloor depth: -276.719412 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 123 # Segment length 107.025283 meters # Minimum depth: 266.577196 meters looking forward 100.000000 meters along route # Maximum depth: 269.205294 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 216.577196 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798548; longitude = -121.850927; duration = 428; initialDepth = 207.247861; finalDepth = 216.577196; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 57.534225 # Actual altitude: 57.534225 # Commanded vehicle depth: 216.577196 # Seafloor depth: -268.779530 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.52; 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 122 # Segment length 138.838314 meters # Minimum depth: 257.247861 meters looking forward 100.000000 meters along route # Maximum depth: 266.233353 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 207.247861 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799510; longitude = -121.850832; duration = 555; # abortOnTimeout = True; initialDepth = 208.668358; finalDepth = 207.247861; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 58.985492 # Actual altitude: 58.985492 # Commanded vehicle depth: 207.247861 # Seafloor depth: -266.233353 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 121 # Segment length 175.876179 meters # Minimum depth: 258.668358 meters looking forward 100.000000 meters along route # Maximum depth: 287.741843 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 208.668358 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800591; longitude = -121.851616; duration = 703; # abortOnTimeout = True; initialDepth = 240.508203; finalDepth = 208.668358; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.985492 # Actual altitude: 58.985492 # Commanded vehicle depth: 208.668358 # Seafloor depth: -258.668358 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 121 # Segment length 101.027214 meters # Minimum depth: 290.508203 meters looking forward 100.000000 meters along route # Maximum depth: 322.035094 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 240.508203 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799870; longitude = -121.853371; duration = 404; initialDepth = 273.334974; finalDepth = 240.508203; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 240.508203 # Seafloor depth: -290.508203 # 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 121 # Segment length 101.027622 meters # Minimum depth: 323.334974 meters looking forward 100.000000 meters along route # Maximum depth: 327.925082 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 273.334974 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799455; longitude = -121.854380; duration = 404; initialDepth = 229.749024; finalDepth = 273.334974; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 273.334974 # Seafloor depth: -323.334974 # 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 121 # Segment length 101.028029 meters # Minimum depth: 279.749024 meters looking forward 100.000000 meters along route # Maximum depth: 326.580963 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 229.749024 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799041; longitude = -121.855388; duration = 404; initialDepth = 229.410512; finalDepth = 229.749024; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 96.831939 # Actual altitude: 96.831939 # Commanded vehicle depth: 229.749024 # Seafloor depth: -326.580963 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 58.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 121 # Segment length 106.900851 meters # Minimum depth: 279.410512 meters looking forward 100.000000 meters along route # Maximum depth: 288.577639 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 229.410512 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798626; longitude = -121.856396; duration = 427; initialDepth = 239.349312; finalDepth = 229.410512; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 96.831939 # Actual altitude: 96.831939 # Commanded vehicle depth: 229.410512 # Seafloor depth: -279.410512 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 58.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 121 # Segment length 102.598514 meters # Minimum depth: 289.349312 meters looking forward 100.000000 meters along route # Maximum depth: 294.037481 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 239.349312 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798188; longitude = -121.857463; duration = 410; initialDepth = 243.968063; finalDepth = 239.349312; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 239.349312 # Seafloor depth: -289.349312 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 120 # Segment length 76.904287 meters # Minimum depth: 293.968063 meters looking forward 100.000000 meters along route # Maximum depth: 308.327536 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 243.968063 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797767; longitude = -121.858487; duration = 307; # abortOnTimeout = True; initialDepth = 260.787363; finalDepth = 243.968063; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.199349 # Actual altitude: 50.199349 # Commanded vehicle depth: 243.968063 # Seafloor depth: -294.167412 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 120 # Segment length 100.271246 meters # Minimum depth: 310.787363 meters looking forward 100.000000 meters along route # Maximum depth: 322.230824 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 260.787363 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798458; longitude = -121.858552; duration = 401; initialDepth = 259.227423; finalDepth = 260.787363; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.199349 # Actual altitude: 50.199349 # Commanded vehicle depth: 260.787363 # Seafloor depth: -310.787363 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 120 # Segment length 100.271252 meters # Minimum depth: 309.227423 meters looking forward 100.000000 meters along route # Maximum depth: 321.645521 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 259.227423 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799359; longitude = -121.858636; duration = 401; initialDepth = 255.951702; finalDepth = 259.227423; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.418098 # Actual altitude: 62.418098 # Commanded vehicle depth: 259.227423 # Seafloor depth: -321.645521 # 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 120 # Segment length 100.271258 meters # Minimum depth: 305.951702 meters looking forward 100.000000 meters along route # Maximum depth: 311.983201 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 255.951702 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800261; longitude = -121.858721; duration = 401; initialDepth = 263.712280; finalDepth = 255.951702; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.418098 # Actual altitude: 62.418098 # Commanded vehicle depth: 255.951702 # Seafloor depth: -308.695933 # 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 120 # Segment length 100.271265 meters # Minimum depth: 313.712280 meters looking forward 100.000000 meters along route # Maximum depth: 333.232813 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 263.712280 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.801162; longitude = -121.858806; duration = 401; initialDepth = 284.457578; finalDepth = 263.712280; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.744231 # Actual altitude: 52.744231 # Commanded vehicle depth: 263.71228 # Seafloor depth: -313.712280 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 120 # Segment length 100.271271 meters # Minimum depth: 334.457578 meters looking forward 100.000000 meters along route # Maximum depth: 347.353551 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 284.457578 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.802063; longitude = -121.858890; duration = 401; initialDepth = 277.917727; finalDepth = 284.457578; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 284.457578 # Seafloor depth: -334.457578 # 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 120 # Segment length 100.271277 meters # Minimum depth: 327.917727 meters looking forward 100.000000 meters along route # Maximum depth: 347.463701 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 277.917727 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.802964; longitude = -121.858975; duration = 401; initialDepth = 238.790302; finalDepth = 277.917727; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.545974 # Actual altitude: 69.545974 # Commanded vehicle depth: 277.917727 # Seafloor depth: -347.463701 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 120 # Segment length 100.271284 meters # Minimum depth: 288.790302 meters looking forward 100.000000 meters along route # Maximum depth: 322.420267 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 238.790302 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.803866; longitude = -121.859059; duration = 401; initialDepth = 215.563569; finalDepth = 238.790302; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.629965 # Actual altitude: 83.629965 # Commanded vehicle depth: 238.790302 # Seafloor depth: -322.420267 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 50.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 120 # Segment length 106.930618 meters # Minimum depth: 265.563569 meters looking forward 100.000000 meters along route # Maximum depth: 286.639411 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 215.563569 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.804767; longitude = -121.859144; duration = 427; initialDepth = 213.328431; finalDepth = 215.563569; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 83.629965 # Actual altitude: 83.629965 # Commanded vehicle depth: 215.563569 # Seafloor depth: -286.639411 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 50.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 119 # Segment length 92.269333 meters # Minimum depth: 263.328431 meters looking forward 100.000000 meters along route # Maximum depth: 265.563569 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 213.328431 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.805728; longitude = -121.859234; duration = 369; # abortOnTimeout = True; initialDepth = 192.382733; finalDepth = 213.328431; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.075842 # Actual altitude: 71.075842 # Commanded vehicle depth: 213.328431 # Seafloor depth: -264.772972 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 119 # Segment length 100.727466 meters # Minimum depth: 242.382733 meters looking forward 100.000000 meters along route # Maximum depth: 262.202265 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 192.382733 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.805398; longitude = -121.860183; duration = 402; initialDepth = 157.493619; finalDepth = 192.382733; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.819532 # Actual altitude: 69.819532 # Commanded vehicle depth: 192.382733 # Seafloor depth: -262.202265 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 119 # Segment length 108.321602 meters # Minimum depth: 207.493619 meters looking forward 100.000000 meters along route # Maximum depth: 242.143427 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 157.493619 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.805037; longitude = -121.861219; duration = 433; initialDepth = 156.572609; finalDepth = 157.493619; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.649808 # Actual altitude: 84.649808 # Commanded vehicle depth: 157.493619 # Seafloor depth: -242.143427 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 50.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 119 # Segment length 101.596374 meters # Minimum depth: 206.572609 meters looking forward 100.000000 meters along route # Maximum depth: 215.307044 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 156.572609 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.804650; longitude = -121.862334; duration = 406; initialDepth = 165.703484; finalDepth = 156.572609; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 84.649808 # Actual altitude: 84.649808 # Commanded vehicle depth: 156.572609 # Seafloor depth: -206.674694 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 50.79; 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 118 # Segment length 158.274893 meters # Minimum depth: 215.703484 meters looking forward 100.000000 meters along route # Maximum depth: 229.080938 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 165.703484 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.804286; longitude = -121.863379; duration = 633; # abortOnTimeout = True; initialDepth = 179.886680; finalDepth = 165.703484; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.102085 # Actual altitude: 50.102085 # Commanded vehicle depth: 165.703484 # Seafloor depth: -215.703484 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 104.250695 meters # Minimum depth: 229.886680 meters looking forward 100.000000 meters along route # Maximum depth: 235.912441 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 179.886680 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.803055; longitude = -121.864275; duration = 417; initialDepth = 187.357496; finalDepth = 179.886680; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 179.88668 # Seafloor depth: -229.886680 # 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 118 # Segment length 100.435378 meters # Minimum depth: 237.357496 meters looking forward 100.000000 meters along route # Maximum depth: 247.764110 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 187.357496 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.802243; longitude = -121.864865; duration = 401; initialDepth = 198.552406; finalDepth = 187.357496; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 187.357496 # Seafloor depth: -237.357496 # 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 to get to end of line 117 # Segment length 103.695992 meters # Minimum depth: 248.552406 meters looking forward 100.000000 meters along route # Maximum depth: 262.644981 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 198.552406 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.801462; longitude = -121.865433; duration = 414; # abortOnTimeout = True; initialDepth = 212.651270; finalDepth = 198.552406; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 198.552406 # Seafloor depth: -248.552406 # 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 117 # Segment length 103.587409 meters # Minimum depth: 262.651270 meters looking forward 100.000000 meters along route # Maximum depth: 276.157553 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 212.651270 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800801; longitude = -121.866255; duration = 414; initialDepth = 227.082787; finalDepth = 212.651270; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 212.65127 # Seafloor depth: -262.651270 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 116 # Segment length 170.622792 meters # Minimum depth: 277.082787 meters looking forward 100.000000 meters along route # Maximum depth: 328.328490 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 227.082787 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800141; longitude = -121.867076; duration = 682; # abortOnTimeout = True; initialDepth = 281.938752; finalDepth = 227.082787; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 227.082787 # Seafloor depth: -277.082787 # 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 116 # Segment length 104.663877 meters # Minimum depth: 331.938752 meters looking forward 100.000000 meters along route # Maximum depth: 335.991800 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 281.938752 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798819; longitude = -121.866099; duration = 418; initialDepth = 283.829100; finalDepth = 281.938752; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 281.938752 # Seafloor depth: -331.938752 # 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 116 # Segment length 104.664168 meters # Minimum depth: 333.829100 meters looking forward 100.000000 meters along route # Maximum depth: 349.038710 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 283.829100 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798008; longitude = -121.865500; duration = 418; initialDepth = 299.335070; finalDepth = 283.829100; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 283.8291 # Seafloor depth: -333.829100 # 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 116 # Segment length 104.664460 meters # Minimum depth: 349.335070 meters looking forward 100.000000 meters along route # Maximum depth: 371.674662 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 299.335070 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797196; longitude = -121.864901; duration = 418; initialDepth = 320.448049; finalDepth = 299.335070; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 299.33507 # Seafloor depth: -349.335070 # 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 116 # Segment length 109.041170 meters # Minimum depth: 370.448049 meters looking forward 100.000000 meters along route # Maximum depth: 377.514578 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 320.448049 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796385; longitude = -121.864302; duration = 436; initialDepth = 252.227438; finalDepth = 320.448049; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.410164 # Actual altitude: 51.410164 # Commanded vehicle depth: 320.448049 # Seafloor depth: -371.858213 # 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 116 # Segment length 100.288624 meters # Minimum depth: 302.227438 meters looking forward 100.000000 meters along route # Maximum depth: 369.083655 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 252.227438 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795540; longitude = -121.863678; duration = 401; initialDepth = 235.137790; finalDepth = 252.227438; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 116.856217 # Actual altitude: 100 # Commanded vehicle depth: 252.227438 # Seafloor depth: -369.083655 # 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 116 # Segment length 108.538206 meters # Minimum depth: 285.137790 meters looking forward 100.000000 meters along route # Maximum depth: 305.370368 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 235.137790 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794763; longitude = -121.863104; duration = 434; initialDepth = 235.075974; finalDepth = 235.137790; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 116.856217 # Actual altitude: 100 # Commanded vehicle depth: 235.13779 # Seafloor depth: -302.387231 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 115 # Segment length 129.096551 meters # Minimum depth: 285.075974 meters looking forward 100.000000 meters along route # Maximum depth: 295.967331 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 235.075974 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793922; longitude = -121.862483; duration = 516; # abortOnTimeout = True; initialDepth = 245.927480; finalDepth = 235.075974; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.249441 # Actual altitude: 67.249441 # Commanded vehicle depth: 235.075974 # Seafloor depth: -285.075974 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 115 # Segment length 103.215004 meters # Minimum depth: 295.927480 meters looking forward 100.000000 meters along route # Maximum depth: 300.868723 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 245.927480 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793501; longitude = -121.863832; duration = 412; initialDepth = 250.571337; finalDepth = 245.927480; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 245.92748 # Seafloor depth: -295.927480 # 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 115 # Segment length 107.212297 meters # Minimum depth: 300.571337 meters looking forward 100.000000 meters along route # Maximum depth: 301.207081 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 250.571337 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793165; longitude = -121.864911; duration = 428; initialDepth = 251.600290; finalDepth = 250.571337; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.050189 # Actual altitude: 50.050189 # Commanded vehicle depth: 250.571337 # Seafloor depth: -300.621526 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 115 # Segment length 107.212693 meters # Minimum depth: 301.600290 meters looking forward 100.000000 meters along route # Maximum depth: 316.184198 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 251.600290 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792816; longitude = -121.866031; duration = 428; initialDepth = 267.638395; finalDepth = 251.600290; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.050189 # Actual altitude: 50.050189 # Commanded vehicle depth: 251.60029 # Seafloor depth: -301.600290 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 115 # Segment length 107.213088 meters # Minimum depth: 317.638395 meters looking forward 100.000000 meters along route # Maximum depth: 331.257174 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 267.638395 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792467; longitude = -121.867151; duration = 428; initialDepth = 281.359498; finalDepth = 267.638395; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 267.638395 # Seafloor depth: -317.638395 # 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 115 # Segment length 100.725095 meters # Minimum depth: 331.359498 meters looking forward 100.000000 meters along route # Maximum depth: 340.122218 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 281.359498 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792117; longitude = -121.868271; duration = 402; initialDepth = 280.037001; finalDepth = 281.359498; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 281.359498 # Seafloor depth: -331.359498 # 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 115 # Segment length 102.980864 meters # Minimum depth: 330.037001 meters looking forward 100.000000 meters along route # Maximum depth: 339.784507 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 280.037001 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791789; longitude = -121.869324; duration = 411; initialDepth = 280.631386; finalDepth = 280.037001; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.747506 # Actual altitude: 59.747506 # Commanded vehicle depth: 280.037001 # Seafloor depth: -339.784507 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 115 # Segment length 107.214236 meters # Minimum depth: 330.631386 meters looking forward 100.000000 meters along route # Maximum depth: 338.813385 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 280.631386 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791454; longitude = -121.870400; duration = 428; initialDepth = 280.147509; finalDepth = 280.631386; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.747506 # Actual altitude: 59.747506 # Commanded vehicle depth: 280.631386 # Seafloor depth: -330.631386 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 115 # Segment length 107.214632 meters # Minimum depth: 330.147509 meters looking forward 100.000000 meters along route # Maximum depth: 334.345920 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 280.147509 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791104; longitude = -121.871520; duration = 428; initialDepth = 269.765042; finalDepth = 280.147509; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.198411 # Actual altitude: 54.198411 # Commanded vehicle depth: 280.147509 # Seafloor depth: -334.345920 # 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 115 # Segment length 107.215028 meters # Minimum depth: 319.765042 meters looking forward 100.000000 meters along route # Maximum depth: 332.205983 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 269.765042 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790755; longitude = -121.872641; duration = 428; initialDepth = 253.248023; finalDepth = 269.765042; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.440941 # Actual altitude: 62.440941 # Commanded vehicle depth: 269.765042 # Seafloor depth: -332.205983 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 115 # Segment length 100.962929 meters # Minimum depth: 303.248023 meters looking forward 100.000000 meters along route # Maximum depth: 318.037700 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 253.248023 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790406; longitude = -121.873761; duration = 403; initialDepth = 246.829158; finalDepth = 253.248023; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.789677 # Actual altitude: 64.789677 # Commanded vehicle depth: 253.248023 # Seafloor depth: -318.037700 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 115 # Segment length 102.746715 meters # Minimum depth: 296.829158 meters looking forward 100.000000 meters along route # Maximum depth: 302.996965 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 246.829158 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790077; longitude = -121.874816; duration = 410; initialDepth = 244.346645; finalDepth = 246.829158; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.789677 # Actual altitude: 64.789677 # Commanded vehicle depth: 246.829158 # Seafloor depth: -302.996965 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 115 # Segment length 100.042739 meters # Minimum depth: 294.346645 meters looking forward 100.000000 meters along route # Maximum depth: 296.254334 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 244.346645 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789742; longitude = -121.875890; duration = 400; initialDepth = 246.075104; finalDepth = 244.346645; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 56.167807 # Actual altitude: 56.167807 # Commanded vehicle depth: 244.346645 # Seafloor depth: -296.254334 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 114 # Segment length 112.859083 meters # Minimum depth: 296.075104 meters looking forward 100.000000 meters along route # Maximum depth: 302.663675 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 246.075104 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789416; longitude = -121.876935; duration = 451; # abortOnTimeout = True; initialDepth = 253.108891; finalDepth = 246.075104; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9076889999999 # Actual altitude: 51.9076889999999 # Commanded vehicle depth: 246.075104 # Seafloor depth: -296.075104 # 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 114 # Segment length 106.607049 meters # Minimum depth: 303.108891 meters looking forward 100.000000 meters along route # Maximum depth: 318.725908 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 253.108891 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789941; longitude = -121.878018; duration = 426; initialDepth = 269.198824; finalDepth = 253.108891; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 253.108891 # Seafloor depth: -303.108891 # 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 114 # Segment length 103.490721 meters # Minimum depth: 319.198824 meters looking forward 100.000000 meters along route # Maximum depth: 334.192828 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 269.198824 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790437; longitude = -121.879041; duration = 413; initialDepth = 284.929585; finalDepth = 269.198824; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 269.198824 # Seafloor depth: -319.198824 # 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 114 # Segment length 109.566982 meters # Minimum depth: 334.929585 meters looking forward 100.000000 meters along route # Maximum depth: 345.945647 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 284.929585 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790919; longitude = -121.880035; duration = 438; initialDepth = 296.419917; finalDepth = 284.929585; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 284.929585 # Seafloor depth: -334.929585 # 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 114 # Segment length 100.528745 meters # Minimum depth: 346.419917 meters looking forward 100.000000 meters along route # Maximum depth: 357.311106 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 296.419917 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791429; longitude = -121.881086; duration = 402; initialDepth = 307.638961; finalDepth = 296.419917; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 296.419917 # Seafloor depth: -346.419917 # 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 114 # Segment length 105.047098 meters # Minimum depth: 357.638961 meters looking forward 100.000000 meters along route # Maximum depth: 371.450407 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 307.638961 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791896; longitude = -121.882051; duration = 420; initialDepth = 321.055675; finalDepth = 307.638961; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 307.638961 # Seafloor depth: -357.638961 # 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 114 # Segment length 105.046587 meters # Minimum depth: 371.055675 meters looking forward 100.000000 meters along route # Maximum depth: 382.346567 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 321.055675 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792385; longitude = -121.883060; duration = 420; initialDepth = 331.957667; finalDepth = 321.055675; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 321.055675 # Seafloor depth: -371.055675 # 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 114 # Segment length 108.981687 meters # Minimum depth: 381.957667 meters looking forward 100.000000 meters along route # Maximum depth: 382.985245 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 331.957667 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792874; longitude = -121.884068; duration = 435; initialDepth = 331.346813; finalDepth = 331.957667; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50.415444 # Actual altitude: 50.415444 # Commanded vehicle depth: 331.957667 # Seafloor depth: -382.373111 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 113 # Segment length 78.573803 meters # Minimum depth: 381.346813 meters looking forward 100.000000 meters along route # Maximum depth: 382.148075 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 331.346813 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793381; longitude = -121.885114; duration = 314; # abortOnTimeout = True; initialDepth = 329.343334; finalDepth = 331.346813; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.574986 # Actual altitude: 50.574986 # Commanded vehicle depth: 331.346813 # Seafloor depth: -381.921799 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 113 # Segment length 102.539371 meters # Minimum depth: 379.343334 meters looking forward 100.000000 meters along route # Maximum depth: 381.667564 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 329.343334 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793223; longitude = -121.885972; duration = 410; initialDepth = 328.341115; finalDepth = 329.343334; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.32423 # Actual altitude: 52.32423 # Commanded vehicle depth: 329.343334 # Seafloor depth: -381.667564 # 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 113 # Segment length 102.539606 meters # Minimum depth: 378.341115 meters looking forward 100.000000 meters along route # Maximum depth: 379.232924 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 328.341115 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793017; longitude = -121.887093; duration = 410; initialDepth = 328.077079; finalDepth = 328.341115; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.32423 # Actual altitude: 52.32423 # Commanded vehicle depth: 328.341115 # Seafloor depth: -379.232924 # 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 113 # Segment length 102.539842 meters # Minimum depth: 378.077079 meters looking forward 100.000000 meters along route # Maximum depth: 381.069452 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 328.077079 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792811; longitude = -121.888213; duration = 410; initialDepth = 332.154017; finalDepth = 328.077079; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.891809 # Actual altitude: 50.891809 # Commanded vehicle depth: 328.077079 # Seafloor depth: -378.145190 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 113 # Segment length 102.540078 meters # Minimum depth: 382.154017 meters looking forward 100.000000 meters along route # Maximum depth: 392.066856 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 332.154017 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792606; longitude = -121.889333; duration = 410; initialDepth = 342.617193; finalDepth = 332.154017; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.068111 # Actual altitude: 50.068111 # Commanded vehicle depth: 332.154017 # Seafloor depth: -382.154017 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 113 # Segment length 109.400262 meters # Minimum depth: 392.617193 meters looking forward 100.000000 meters along route # Maximum depth: 395.247519 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 342.617193 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792400; longitude = -121.890454; duration = 437; initialDepth = 345.483643; finalDepth = 342.617193; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 342.617193 # Seafloor depth: -392.617193 # 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 to get to end of line 112 # Segment length 176.967187 meters # Minimum depth: 395.483643 meters looking forward 100.000000 meters along route # Maximum depth: 411.284331 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 345.483643 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792180; longitude = -121.891649; duration = 707; # abortOnTimeout = True; initialDepth = 364.184430; finalDepth = 345.483643; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 345.483643 # Seafloor depth: -395.483643 # 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 112 # Segment length 102.109836 meters # Minimum depth: 414.184430 meters looking forward 100.000000 meters along route # Maximum depth: 430.020254 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 364.184430 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792505; longitude = -121.893591; duration = 408; initialDepth = 380.091785; finalDepth = 364.184430; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 364.18443 # Seafloor depth: -414.184430 # 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 112 # Segment length 102.109573 meters # Minimum depth: 430.091785 meters looking forward 100.000000 meters along route # Maximum depth: 432.858871 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 380.091785 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792693; longitude = -121.894711; duration = 408; initialDepth = 383.106721; finalDepth = 380.091785; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.009156 # Actual altitude: 50.009156 # Commanded vehicle depth: 380.091785 # Seafloor depth: -430.100941 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 112 # Segment length 108.893740 meters # Minimum depth: 433.106721 meters looking forward 100.000000 meters along route # Maximum depth: 439.644254 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 383.106721 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792881; longitude = -121.895831; duration = 435; initialDepth = 390.722549; finalDepth = 383.106721; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.009156 # Actual altitude: 50.009156 # Commanded vehicle depth: 383.106721 # Seafloor depth: -433.106721 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 111 # Segment length 158.098122 meters # Minimum depth: 440.722549 meters looking forward 100.000000 meters along route # Maximum depth: 458.237751 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 390.722549 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793081; longitude = -121.897026; duration = 632; # abortOnTimeout = True; initialDepth = 404.803132; finalDepth = 390.722549; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 390.722549 # Seafloor depth: -440.722549 # 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 to get to end of line 110 # Segment length 118.023305 meters # Minimum depth: 454.803132 meters looking forward 100.000000 meters along route # Maximum depth: 456.864378 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 404.803132 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794433; longitude = -121.896466; duration = 472; # abortOnTimeout = True; initialDepth = 373.795248; finalDepth = 404.803132; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.180984 # Actual altitude: 51.180984 # Commanded vehicle depth: 404.803132 # Seafloor depth: -455.984116 # 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 110 # Segment length 102.796516 meters # Minimum depth: 423.795248 meters looking forward 100.000000 meters along route # Maximum depth: 454.761498 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 373.795248 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793501; longitude = -121.895827; duration = 411; initialDepth = 350.444983; finalDepth = 373.795248; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.96625 # Actual altitude: 80.96625 # Commanded vehicle depth: 373.795248 # Seafloor depth: -454.761498 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 48.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 110 # Segment length 110.343037 meters # Minimum depth: 400.444983 meters looking forward 100.000000 meters along route # Maximum depth: 423.783601 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 350.444983 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792690; longitude = -121.895271; duration = 441; initialDepth = 346.597126; finalDepth = 350.444983; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 80.96625 # Actual altitude: 80.96625 # Commanded vehicle depth: 350.444983 # Seafloor depth: -423.783601 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 48.58; 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 109 # Segment length 149.993547 meters # Minimum depth: 396.597126 meters looking forward 100.000000 meters along route # Maximum depth: 401.725821 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 346.597126 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791819; longitude = -121.894674; duration = 599; # abortOnTimeout = True; initialDepth = 346.340401; finalDepth = 346.597126; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 73.338618 # Actual altitude: 73.338618 # Commanded vehicle depth: 346.597126 # Seafloor depth: -400.245537 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 108 # Segment length 172.472733 meters # Minimum depth: 396.340401 meters looking forward 100.000000 meters along route # Maximum depth: 432.636006 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 346.340401 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791819; longitude = -121.892993; duration = 689; # abortOnTimeout = True; initialDepth = 383.330877; finalDepth = 346.340401; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.648411 # Actual altitude: 53.648411 # Commanded vehicle depth: 346.340401 # Seafloor depth: -396.340401 # 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 108 # Segment length 106.516909 meters # Minimum depth: 433.330877 meters looking forward 100.000000 meters along route # Maximum depth: 453.302425 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 383.330877 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792991; longitude = -121.894263; duration = 426; initialDepth = 403.825134; finalDepth = 383.330877; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 383.330877 # Seafloor depth: -433.330877 # 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 108 # Segment length 101.185940 meters # Minimum depth: 453.825134 meters looking forward 100.000000 meters along route # Maximum depth: 456.449300 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 403.825134 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793715; longitude = -121.895047; duration = 404; initialDepth = 399.266726; finalDepth = 403.825134; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 403.825134 # Seafloor depth: -453.825134 # 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 108 # Segment length 101.731950 meters # Minimum depth: 449.266726 meters looking forward 100.000000 meters along route # Maximum depth: 454.022716 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 399.266726 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794403; longitude = -121.895792; duration = 406; initialDepth = 400.992653; finalDepth = 399.266726; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 54.75599 # Actual altitude: 54.75599 # Commanded vehicle depth: 399.266726 # Seafloor depth: -454.022716 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 107 # Segment length 104.234511 meters # Minimum depth: 450.992653 meters looking forward 100.000000 meters along route # Maximum depth: 467.292864 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 400.992653 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795094; longitude = -121.896541; duration = 416; # abortOnTimeout = True; initialDepth = 410.222954; finalDepth = 400.992653; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 54.75599 # Actual altitude: 54.75599 # Commanded vehicle depth: 400.992653 # Seafloor depth: -450.992653 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 106 # Segment length 174.612771 meters # Minimum depth: 460.222954 meters looking forward 100.000000 meters along route # Maximum depth: 467.205223 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 410.222954 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795514; longitude = -121.897586; duration = 698; # abortOnTimeout = True; initialDepth = 391.999722; finalDepth = 410.222954; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.982269 # Actual altitude: 56.982269 # Commanded vehicle depth: 410.222954 # Seafloor depth: -467.205223 # 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 106 # Segment length 100.748738 meters # Minimum depth: 441.999722 meters looking forward 100.000000 meters along route # Maximum depth: 460.719569 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 391.999722 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793952; longitude = -121.897346; duration = 402; initialDepth = 322.341932; finalDepth = 391.999722; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.567101 # Actual altitude: 68.567101 # Commanded vehicle depth: 391.999722 # Seafloor depth: -460.566823 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 106 # Segment length 100.748745 meters # Minimum depth: 372.341932 meters looking forward 100.000000 meters along route # Maximum depth: 436.217657 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 322.341932 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793051; longitude = -121.897207; duration = 402; initialDepth = 319.833405; finalDepth = 322.341932; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 113.875725 # Actual altitude: 100 # Commanded vehicle depth: 322.341932 # Seafloor depth: -436.217657 # 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 106 # Segment length 100.748751 meters # Minimum depth: 369.833405 meters looking forward 100.000000 meters along route # Maximum depth: 376.661970 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 319.833405 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792150; longitude = -121.897068; duration = 402; initialDepth = 327.351975; finalDepth = 319.833405; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 113.875725 # Actual altitude: 100 # Commanded vehicle depth: 319.833405 # Seafloor depth: -369.833405 # 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 106 # Segment length 100.748757 meters # Minimum depth: 377.351975 meters looking forward 100.000000 meters along route # Maximum depth: 383.124351 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 327.351975 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791248; longitude = -121.896930; duration = 402; initialDepth = 333.238707; finalDepth = 327.351975; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 327.351975 # Seafloor depth: -377.351975 # 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 106 # Segment length 100.748763 meters # Minimum depth: 383.238707 meters looking forward 100.000000 meters along route # Maximum depth: 387.122402 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 333.238707 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790347; longitude = -121.896791; duration = 402; initialDepth = 337.426373; finalDepth = 333.238707; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 333.238707 # Seafloor depth: -383.238707 # 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 106 # Segment length 100.748769 meters # Minimum depth: 387.426373 meters looking forward 100.000000 meters along route # Maximum depth: 394.597448 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 337.426373 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789446; longitude = -121.896652; duration = 402; initialDepth = 345.490689; finalDepth = 337.426373; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 337.426373 # Seafloor depth: -387.426373 # 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 106 # Segment length 100.748775 meters # Minimum depth: 395.490689 meters looking forward 100.000000 meters along route # Maximum depth: 402.634243 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 345.490689 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788545; longitude = -121.896514; duration = 402; initialDepth = 350.659730; finalDepth = 345.490689; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 345.490689 # Seafloor depth: -395.490689 # 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 106 # Segment length 100.748781 meters # Minimum depth: 400.659730 meters looking forward 100.000000 meters along route # Maximum depth: 402.364454 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 350.659730 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787643; longitude = -121.896375; duration = 402; initialDepth = 351.258599; finalDepth = 350.659730; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.704724 # Actual altitude: 51.704724 # Commanded vehicle depth: 350.65973 # Seafloor depth: -402.364454 # 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 106 # Segment length 104.085081 meters # Minimum depth: 401.258599 meters looking forward 100.000000 meters along route # Maximum depth: 403.789218 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 351.258599 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786742; longitude = -121.896236; duration = 416; initialDepth = 354.330986; finalDepth = 351.258599; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.704724 # Actual altitude: 51.704724 # Commanded vehicle depth: 351.258599 # Seafloor depth: -401.368362 # 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; } # ####################################################### # # 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 105 # Segment length 143.840780 meters # Minimum depth: 404.330986 meters looking forward 100.000000 meters along route # Maximum depth: 408.377869 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 354.330986 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.785811; longitude = -121.896093; duration = 575; # abortOnTimeout = True; initialDepth = 358.572632; finalDepth = 354.330986; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.109763 # Actual altitude: 50.109763 # Commanded vehicle depth: 354.330986 # Seafloor depth: -404.330986 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 104 # Segment length 149.466522 meters # Minimum depth: 408.572632 meters looking forward 100.000000 meters along route # Maximum depth: 414.599847 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 358.572632 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.785691; longitude = -121.897698; duration = 597; # abortOnTimeout = True; initialDepth = 363.358060; finalDepth = 358.572632; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 358.572632 # Seafloor depth: -408.572632 # 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 104 # Segment length 100.194718 meters # Minimum depth: 413.358060 meters looking forward 100.000000 meters along route # Maximum depth: 416.578089 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 363.358060 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787022; longitude = -121.897960; duration = 400; initialDepth = 354.643364; finalDepth = 363.358060; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.301674 # Actual altitude: 51.301674 # Commanded vehicle depth: 363.35806 # Seafloor depth: -414.659734 # 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 104 # Segment length 101.230480 meters # Minimum depth: 404.643364 meters looking forward 100.000000 meters along route # Maximum depth: 412.466790 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 354.643364 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787914; longitude = -121.898135; duration = 404; initialDepth = 348.559317; finalDepth = 354.643364; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.823426 # Actual altitude: 57.823426 # Commanded vehicle depth: 354.643364 # Seafloor depth: -412.466790 # 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 104 # Segment length 101.230462 meters # Minimum depth: 398.559317 meters looking forward 100.000000 meters along route # Maximum depth: 403.812444 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 348.559317 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788815; longitude = -121.898313; duration = 404; initialDepth = 348.820775; finalDepth = 348.559317; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.823426 # Actual altitude: 57.823426 # Commanded vehicle depth: 348.559317 # Seafloor depth: -403.812444 # 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 104 # Segment length 101.230443 meters # Minimum depth: 398.820775 meters looking forward 100.000000 meters along route # Maximum depth: 401.226229 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 348.820775 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789716; longitude = -121.898490; duration = 404; initialDepth = 350.421356; finalDepth = 348.820775; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.253127 # Actual altitude: 55.253127 # Commanded vehicle depth: 348.820775 # Seafloor depth: -398.820775 # 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 104 # Segment length 101.230426 meters # Minimum depth: 400.421356 meters looking forward 100.000000 meters along route # Maximum depth: 403.750280 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 350.421356 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790617; longitude = -121.898667; duration = 404; initialDepth = 353.833612; finalDepth = 350.421356; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.736021 # Actual altitude: 50.736021 # Commanded vehicle depth: 350.421356 # Seafloor depth: -401.157377 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 104 # Segment length 101.230408 meters # Minimum depth: 403.833612 meters looking forward 100.000000 meters along route # Maximum depth: 405.495709 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 353.833612 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791519; longitude = -121.898845; duration = 404; initialDepth = 337.296204; finalDepth = 353.833612; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.736021 # Actual altitude: 50.736021 # Commanded vehicle depth: 353.833612 # Seafloor depth: -403.894338 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 104 # Segment length 101.230389 meters # Minimum depth: 387.296204 meters looking forward 100.000000 meters along route # Maximum depth: 404.346799 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 337.296204 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792420; longitude = -121.899022; duration = 404; initialDepth = 334.478886; finalDepth = 337.296204; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.050595 # Actual altitude: 67.050595 # Commanded vehicle depth: 337.296204 # Seafloor depth: -404.346799 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 104 # Segment length 101.230371 meters # Minimum depth: 384.478886 meters looking forward 100.000000 meters along route # Maximum depth: 386.668257 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 334.478886 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793321; longitude = -121.899199; duration = 404; initialDepth = 328.976272; finalDepth = 334.478886; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.050595 # Actual altitude: 67.050595 # Commanded vehicle depth: 334.478886 # Seafloor depth: -386.588864 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 104 # Segment length 108.011702 meters # Minimum depth: 378.976272 meters looking forward 100.000000 meters along route # Maximum depth: 384.821767 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 328.976272 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794222; longitude = -121.899377; duration = 432; initialDepth = 329.351921; finalDepth = 328.976272; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.845495 # Actual altitude: 55.845495 # Commanded vehicle depth: 328.976272 # Seafloor depth: -384.821767 # 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; } # ####################################################### # # 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 103 # Segment length 152.308281 meters # Minimum depth: 379.351921 meters looking forward 100.000000 meters along route # Maximum depth: 400.801985 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 329.351921 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795184; longitude = -121.899566; duration = 609; # abortOnTimeout = True; initialDepth = 338.000153; finalDepth = 329.351921; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 55.845495 # Actual altitude: 55.845495 # Commanded vehicle depth: 329.351921 # Seafloor depth: -379.351921 # 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 to get to end of line 102 # Segment length 144.727900 meters # Minimum depth: 388.000153 meters looking forward 100.000000 meters along route # Maximum depth: 401.809296 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 338.000153 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793922; longitude = -121.900238; duration = 578; # abortOnTimeout = True; initialDepth = 332.834918; finalDepth = 338.000153; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.809143 # Actual altitude: 63.809143 # Commanded vehicle depth: 338.000153 # Seafloor depth: -401.809296 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 102.146999 meters # Minimum depth: 382.834918 meters looking forward 100.000000 meters along route # Maximum depth: 388.868980 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 332.834918 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793110; longitude = -121.898968; duration = 408; initialDepth = 320.895060; finalDepth = 332.834918; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.809143 # Actual altitude: 63.809143 # Commanded vehicle depth: 332.834918 # Seafloor depth: -388.375034 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 102 # Segment length 102.147482 meters # Minimum depth: 370.895060 meters looking forward 100.000000 meters along route # Maximum depth: 381.707141 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 320.895060 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792538; longitude = -121.898072; duration = 408; initialDepth = 320.264076; finalDepth = 320.895060; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.812081 # Actual altitude: 60.812081 # Commanded vehicle depth: 320.89506 # Seafloor depth: -381.707141 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 102 # Segment length 106.407577 meters # Minimum depth: 370.264076 meters looking forward 100.000000 meters along route # Maximum depth: 371.433985 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 320.264076 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791965; longitude = -121.897176; duration = 425; initialDepth = 321.384857; finalDepth = 320.264076; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 60.812081 # Actual altitude: 60.812081 # Commanded vehicle depth: 320.264076 # Seafloor depth: -370.878163 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 101 # Segment length 125.881715 meters # Minimum depth: 371.384857 meters looking forward 100.000000 meters along route # Maximum depth: 374.012678 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 321.384857 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791368; longitude = -121.896242; duration = 503; # abortOnTimeout = True; initialDepth = 325.548050; finalDepth = 321.384857; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.614087 # Actual altitude: 50.614087 # Commanded vehicle depth: 321.384857 # Seafloor depth: -371.384857 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 104.307273 meters # Minimum depth: 375.548050 meters looking forward 100.000000 meters along route # Maximum depth: 389.911059 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 325.548050 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790941; longitude = -121.894935; duration = 417; initialDepth = 339.572548; finalDepth = 325.548050; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 325.54805 # Seafloor depth: -375.548050 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 100 # Segment length 128.064801 meters # Minimum depth: 389.572548 meters looking forward 100.000000 meters along route # Maximum depth: 398.920926 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 339.572548 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790587; longitude = -121.893852; duration = 512; # abortOnTimeout = True; initialDepth = 348.933832; finalDepth = 339.572548; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 339.572548 # Seafloor depth: -389.572548 # 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 100 # Segment length 103.245671 meters # Minimum depth: 398.933832 meters looking forward 100.000000 meters along route # Maximum depth: 407.240966 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 348.933832 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791702; longitude = -121.893479; duration = 412; initialDepth = 358.513690; finalDepth = 348.933832; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 348.933832 # Seafloor depth: -398.933832 # 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 100 # Segment length 103.552189 meters # Minimum depth: 408.513690 meters looking forward 100.000000 meters along route # Maximum depth: 417.537365 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 358.513690 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792600; longitude = -121.893178; duration = 414; initialDepth = 368.152809; finalDepth = 358.513690; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 358.51369 # Seafloor depth: -408.513690 # 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 100 # Segment length 103.552127 meters # Minimum depth: 418.152809 meters looking forward 100.000000 meters along route # Maximum depth: 445.129633 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 368.152809 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793501; longitude = -121.892876; duration = 414; initialDepth = 396.008173; finalDepth = 368.152809; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 368.152809 # Seafloor depth: -418.152809 # 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 100 # Segment length 103.552067 meters # Minimum depth: 446.008173 meters looking forward 100.000000 meters along route # Maximum depth: 449.909663 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 396.008173 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794403; longitude = -121.892574; duration = 414; initialDepth = 392.312702; finalDepth = 396.008173; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 396.008173 # Seafloor depth: -446.008173 # 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 100 # Segment length 103.552005 meters # Minimum depth: 442.312702 meters looking forward 100.000000 meters along route # Maximum depth: 448.578495 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 392.312702 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795304; longitude = -121.892272; duration = 414; initialDepth = 374.864978; finalDepth = 392.312702; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.265793 # Actual altitude: 56.265793 # Commanded vehicle depth: 392.312702 # Seafloor depth: -448.578495 # 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 100 # Segment length 103.551945 meters # Minimum depth: 424.864978 meters looking forward 100.000000 meters along route # Maximum depth: 440.597905 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 374.864978 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796205; longitude = -121.891970; duration = 414; initialDepth = 349.691587; finalDepth = 374.864978; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.732927 # Actual altitude: 65.732927 # Commanded vehicle depth: 374.864978 # Seafloor depth: -440.597905 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 100 # Segment length 103.551884 meters # Minimum depth: 399.691587 meters looking forward 100.000000 meters along route # Maximum depth: 423.813653 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 349.691587 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797106; longitude = -121.891668; duration = 414; initialDepth = 304.580732; finalDepth = 349.691587; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.122066 # Actual altitude: 74.122066 # Commanded vehicle depth: 349.691587 # Seafloor depth: -423.813653 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 100 # Segment length 103.551822 meters # Minimum depth: 354.580732 meters looking forward 100.000000 meters along route # Maximum depth: 395.077173 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 304.580732 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798008; longitude = -121.891366; duration = 414; initialDepth = 265.325578; finalDepth = 304.580732; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.496441 # Actual altitude: 90.496441 # Commanded vehicle depth: 304.580732 # Seafloor depth: -395.077173 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 54.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 100 # Segment length 106.989597 meters # Minimum depth: 315.325578 meters looking forward 100.000000 meters along route # Maximum depth: 349.379760 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 265.325578 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798909; longitude = -121.891064; duration = 427; initialDepth = 263.372002; finalDepth = 265.325578; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 90.496441 # Actual altitude: 90.496441 # Commanded vehicle depth: 265.325578 # Seafloor depth: -349.379760 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 54.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 99 # Segment length 132.476002 meters # Minimum depth: 313.372002 meters looking forward 100.000000 meters along route # Maximum depth: 345.781656 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 263.372002 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799840; longitude = -121.890752; duration = 529; # abortOnTimeout = True; initialDepth = 298.447185; finalDepth = 263.372002; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.054182 # Actual altitude: 84.054182 # Commanded vehicle depth: 263.372002 # Seafloor depth: -313.372002 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 50.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 105.604777 meters # Minimum depth: 348.447185 meters looking forward 100.000000 meters along route # Maximum depth: 410.113792 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 298.447185 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799222; longitude = -121.892022; duration = 422; initialDepth = 336.884180; finalDepth = 298.447185; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 298.447185 # Seafloor depth: -348.447185 # 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 99 # Segment length 104.719189 meters # Minimum depth: 410.505880 meters looking forward 100.000000 meters along route # Maximum depth: 452.171416 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 336.884180 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798729; longitude = -121.893035; duration = 418; initialDepth = 374.998847; finalDepth = 336.884180; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.621700287797 # Actual altitude: 73.621700287797 # Commanded vehicle depth: 336.884179712203 # Seafloor depth: -410.505880 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 99 # Segment length 107.648238 meters # Minimum depth: 453.954678 meters looking forward 100.000000 meters along route # Maximum depth: 460.891672 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 374.998847 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798240; longitude = -121.894039; duration = 430; initialDepth = 411.093780; finalDepth = 374.998847; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.9558312414474 # Actual altitude: 78.9558312414474 # Commanded vehicle depth: 374.998846758553 # Seafloor depth: -453.954678 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 47.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 99 # Segment length 102.677592 meters # Minimum depth: 461.093780 meters looking forward 100.000000 meters along route # Maximum depth: 465.704738 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 411.093780 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797737; longitude = -121.895071; duration = 410; initialDepth = 413.661801; finalDepth = 411.093780; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.9558312414474 # Actual altitude: 78.9558312414474 # Commanded vehicle depth: 411.09378 # Seafloor depth: -461.093780 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 47.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 99 # Segment length 109.691735 meters # Minimum depth: 463.661801 meters looking forward 100.000000 meters along route # Maximum depth: 465.697506 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 413.661801 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797258; longitude = -121.896055; duration = 438; initialDepth = 414.197408; finalDepth = 413.661801; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.035705 # Actual altitude: 52.035705 # Commanded vehicle depth: 413.661801 # Seafloor depth: -465.697506 # 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 99 # Segment length 100.635959 meters # Minimum depth: 464.197408 meters looking forward 100.000000 meters along route # Maximum depth: 468.441845 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 414.197408 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796746; longitude = -121.897107; duration = 402; initialDepth = 365.442769; finalDepth = 414.197408; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.035705 # Actual altitude: 52.035705 # Commanded vehicle depth: 414.197408 # Seafloor depth: -464.197408 # 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 99 # Segment length 105.164546 meters # Minimum depth: 415.442769 meters looking forward 100.000000 meters along route # Maximum depth: 466.054710 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 365.442769 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796276; longitude = -121.898072; duration = 420; initialDepth = 331.091711; finalDepth = 365.442769; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 100.611941 # Actual altitude: 100 # Commanded vehicle depth: 365.442769 # Seafloor depth: -466.054710 # 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 99 # Segment length 105.165011 meters # Minimum depth: 381.091711 meters looking forward 100.000000 meters along route # Maximum depth: 408.721147 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 331.091711 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795785; longitude = -121.899080; duration = 420; initialDepth = 335.090393; finalDepth = 331.091711; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 100.611941 # Actual altitude: 100 # Commanded vehicle depth: 331.091711 # Seafloor depth: -408.721147 # 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 99 # Segment length 105.165478 meters # Minimum depth: 385.090393 meters looking forward 100.000000 meters along route # Maximum depth: 398.769484 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 335.090393 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795294; longitude = -121.900088; duration = 420; initialDepth = 350.139235; finalDepth = 335.090393; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.629436 # Actual altitude: 77.629436 # Commanded vehicle depth: 335.090393 # Seafloor depth: -385.090393 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 99 # Segment length 105.165944 meters # Minimum depth: 400.139235 meters looking forward 100.000000 meters along route # Maximum depth: 430.717548 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 350.139235 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794803; longitude = -121.901097; duration = 420; initialDepth = 380.728924; finalDepth = 350.139235; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 350.139235 # Seafloor depth: -400.139235 # 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 99 # Segment length 105.166410 meters # Minimum depth: 430.728924 meters looking forward 100.000000 meters along route # Maximum depth: 487.266832 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 380.728924 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794312; longitude = -121.902105; duration = 420; initialDepth = 419.006366; finalDepth = 380.728924; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 380.728924 # Seafloor depth: -430.728924 # 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 99 # Segment length 107.190768 meters # Minimum depth: 488.408924 meters looking forward 100.000000 meters along route # Maximum depth: 509.650441 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 419.006366 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793822; longitude = -121.903113; duration = 428; initialDepth = 458.020614; finalDepth = 419.006366; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.4025578245265 # Actual altitude: 69.4025578245265 # Commanded vehicle depth: 419.006366175474 # Seafloor depth: -488.408924 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 99 # Segment length 103.143450 meters # Minimum depth: 509.915918 meters looking forward 100.000000 meters along route # Maximum depth: 518.087186 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.020614 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793321; longitude = -121.904141; duration = 412; initialDepth = 434.410705; finalDepth = 458.020614; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.4025578245265 # Actual altitude: 69.4025578245265 # Commanded vehicle depth: 458.020614392796 # Seafloor depth: -509.915918 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 99 # Segment length 109.234344 meters # Minimum depth: 484.410705 meters looking forward 100.000000 meters along route # Maximum depth: 517.305644 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 434.410705 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792840; longitude = -121.905130; duration = 436; initialDepth = 404.298022; finalDepth = 434.410705; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.894939 # Actual altitude: 82.894939 # Commanded vehicle depth: 434.410705 # Seafloor depth: -517.305644 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 49.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 99 # Segment length 101.101739 meters # Minimum depth: 454.298022 meters looking forward 100.000000 meters along route # Maximum depth: 482.945153 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 404.298022 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792330; longitude = -121.906177; duration = 404; initialDepth = 364.266045; finalDepth = 404.298022; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.894939 # Actual altitude: 82.894939 # Commanded vehicle depth: 404.298022 # Seafloor depth: -482.945153 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 49.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 99 # Segment length 111.277955 meters # Minimum depth: 414.266045 meters looking forward 100.000000 meters along route # Maximum depth: 452.645347 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 364.266045 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791858; longitude = -121.907146; duration = 445; initialDepth = 352.565677; finalDepth = 364.266045; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.379302 # Actual altitude: 88.379302 # Commanded vehicle depth: 364.266045 # Seafloor depth: -452.645347 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 53.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 99 # Segment length 102.919658 meters # Minimum depth: 402.565677 meters looking forward 100.000000 meters along route # Maximum depth: 412.761222 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 352.565677 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791338; longitude = -121.908213; duration = 411; initialDepth = 352.510963; finalDepth = 352.565677; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 88.379302 # Actual altitude: 88.379302 # Commanded vehicle depth: 352.565677 # Seafloor depth: -412.761222 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 53.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 98 # Segment length 169.072477 meters # Minimum depth: 402.510963 meters looking forward 100.000000 meters along route # Maximum depth: 414.049832 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 352.510963 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790858; longitude = -121.909200; duration = 676; # abortOnTimeout = True; initialDepth = 364.418302; finalDepth = 352.510963; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.195545 # Actual altitude: 60.195545 # Commanded vehicle depth: 352.510963 # Seafloor depth: -402.510963 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 98 # Segment length 108.229187 meters # Minimum depth: 414.418302 meters looking forward 100.000000 meters along route # Maximum depth: 414.864112 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 364.418302 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789356; longitude = -121.908882; duration = 432; initialDepth = 364.802477; finalDepth = 364.418302; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.084443 # Actual altitude: 50.084443 # Commanded vehicle depth: 364.418302 # Seafloor depth: -414.502745 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 97 # Segment length 86.876416 meters # Minimum depth: 414.802477 meters looking forward 100.000000 meters along route # Maximum depth: 445.241030 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 364.802477 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788394; longitude = -121.908678; duration = 347; # abortOnTimeout = True; initialDepth = 396.422906; finalDepth = 364.802477; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.709242 # Actual altitude: 50.709242 # Commanded vehicle depth: 364.802477 # Seafloor depth: -415.511719 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 100.193123 meters # Minimum depth: 449.508222 meters looking forward 100.000000 meters along route # Maximum depth: 465.455598 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 396.422906 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788446; longitude = -121.907707; duration = 400; initialDepth = 416.178121; finalDepth = 396.422906; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0853161020999 # Actual altitude: 53.0853161020999 # Commanded vehicle depth: 396.4229058979 # Seafloor depth: -449.508222 # 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 97 # Segment length 100.193069 meters # Minimum depth: 466.178121 meters looking forward 100.000000 meters along route # Maximum depth: 484.427760 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 416.178121 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788507; longitude = -121.906586; duration = 400; initialDepth = 436.053659; finalDepth = 416.178121; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0853161020999 # Actual altitude: 53.0853161020999 # Commanded vehicle depth: 416.178121 # Seafloor depth: -466.178121 # 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 97 # Segment length 100.193014 meters # Minimum depth: 486.053659 meters looking forward 100.000000 meters along route # Maximum depth: 514.478513 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 436.053659 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788567; longitude = -121.905466; duration = 400; initialDepth = 466.099493; finalDepth = 436.053659; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 436.053659 # Seafloor depth: -486.053659 # 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 97 # Segment length 100.192961 meters # Minimum depth: 516.099493 meters looking forward 100.000000 meters along route # Maximum depth: 528.942405 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 466.099493 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788628; longitude = -121.904346; duration = 400; initialDepth = 450.014748; finalDepth = 466.099493; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 466.099493 # Seafloor depth: -516.099493 # 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 97 # Segment length 100.192906 meters # Minimum depth: 500.014748 meters looking forward 100.000000 meters along route # Maximum depth: 530.555575 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 450.014748 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788688; longitude = -121.903225; duration = 400; initialDepth = 406.944067; finalDepth = 450.014748; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.843585 # Actual altitude: 79.843585 # Commanded vehicle depth: 450.014748 # Seafloor depth: -529.858333 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 47.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 97 # Segment length 100.192852 meters # Minimum depth: 456.944067 meters looking forward 100.000000 meters along route # Maximum depth: 496.033089 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 406.944067 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788749; longitude = -121.902105; duration = 400; initialDepth = 379.929788; finalDepth = 406.944067; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.089022 # Actual altitude: 89.089022 # Commanded vehicle depth: 406.944067 # Seafloor depth: -496.033089 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 53.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 97 # Segment length 100.192797 meters # Minimum depth: 429.929788 meters looking forward 100.000000 meters along route # Maximum depth: 454.222247 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 379.929788 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788809; longitude = -121.900985; duration = 400; initialDepth = 359.173773; finalDepth = 379.929788; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.089022 # Actual altitude: 89.089022 # Commanded vehicle depth: 379.929788 # Seafloor depth: -454.222247 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 53.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 97 # Segment length 100.192744 meters # Minimum depth: 409.173773 meters looking forward 100.000000 meters along route # Maximum depth: 427.782805 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 359.173773 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788870; longitude = -121.899864; duration = 400; initialDepth = 346.990022; finalDepth = 359.173773; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.292459 # Actual altitude: 74.292459 # Commanded vehicle depth: 359.173773 # Seafloor depth: -427.782805 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 97 # Segment length 100.192689 meters # Minimum depth: 396.990022 meters looking forward 100.000000 meters along route # Maximum depth: 407.752275 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 346.990022 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788930; longitude = -121.898744; duration = 400; initialDepth = 340.385275; finalDepth = 346.990022; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.609032 # Actual altitude: 68.609032 # Commanded vehicle depth: 346.990022 # Seafloor depth: -407.752275 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 97 # Segment length 106.849725 meters # Minimum depth: 390.385275 meters looking forward 100.000000 meters along route # Maximum depth: 396.188065 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 340.385275 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788991; longitude = -121.897624; duration = 427; initialDepth = 340.236801; finalDepth = 340.385275; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 60.762253 # Actual altitude: 60.762253 # Commanded vehicle depth: 340.385275 # Seafloor depth: -396.188065 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 96 # Segment length 117.526993 meters # Minimum depth: 390.236801 meters looking forward 100.000000 meters along route # Maximum depth: 400.062735 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 340.236801 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789055; longitude = -121.896429; duration = 470; # abortOnTimeout = True; initialDepth = 349.872878; finalDepth = 340.236801; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.80279 # Actual altitude: 55.80279 # Commanded vehicle depth: 340.236801 # Seafloor depth: -390.236801 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 100.763369 meters # Minimum depth: 399.872878 meters looking forward 100.000000 meters along route # Maximum depth: 401.746197 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 349.872878 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788004; longitude = -121.896266; duration = 403; initialDepth = 349.371134; finalDepth = 349.872878; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.812824 # Actual altitude: 50.812824 # Commanded vehicle depth: 349.872878 # Seafloor depth: -400.685702 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 96 # Segment length 104.155652 meters # Minimum depth: 399.371134 meters looking forward 100.000000 meters along route # Maximum depth: 400.291991 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 349.371134 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787103; longitude = -121.896126; duration = 416; initialDepth = 349.888382; finalDepth = 349.371134; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.812824 # Actual altitude: 50.812824 # Commanded vehicle depth: 349.371134 # Seafloor depth: -399.993250 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 95 # Segment length 117.640161 meters # Minimum depth: 399.888382 meters looking forward 100.000000 meters along route # Maximum depth: 407.762874 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 349.888382 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786171; longitude = -121.895981; duration = 470; # abortOnTimeout = True; initialDepth = 358.008139; finalDepth = 349.888382; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.622116 # Actual altitude: 50.622116 # Commanded vehicle depth: 349.888382 # Seafloor depth: -399.888382 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 100.863633 meters # Minimum depth: 408.008139 meters looking forward 100.000000 meters along route # Maximum depth: 415.464955 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 358.008139 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786030; longitude = -121.897288; duration = 403; initialDepth = 366.152377; finalDepth = 358.008139; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 358.008139 # Seafloor depth: -408.008139 # 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 95 # Segment length 107.590256 meters # Minimum depth: 416.152377 meters looking forward 100.000000 meters along route # Maximum depth: 426.280094 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 366.152377 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.785910; longitude = -121.898408; duration = 430; initialDepth = 376.590096; finalDepth = 366.152377; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 366.152377 # Seafloor depth: -416.152377 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 94 # Segment length 117.815116 meters # Minimum depth: 426.590096 meters looking forward 100.000000 meters along route # Maximum depth: 432.205278 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 376.590096 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.785781; longitude = -121.899603; duration = 471; # abortOnTimeout = True; initialDepth = 378.918446; finalDepth = 376.590096; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 376.590096 # Seafloor depth: -426.590096 # 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 94 # Segment length 101.007250 meters # Minimum depth: 428.918446 meters looking forward 100.000000 meters along route # Maximum depth: 432.583767 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 378.918446 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786832; longitude = -121.899790; duration = 404; initialDepth = 380.030364; finalDepth = 378.918446; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.665321 # Actual altitude: 53.665321 # Commanded vehicle depth: 378.918446 # Seafloor depth: -432.583767 # 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 94 # Segment length 101.007237 meters # Minimum depth: 430.030364 meters looking forward 100.000000 meters along route # Maximum depth: 435.029383 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 380.030364 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787733; longitude = -121.899951; duration = 404; initialDepth = 381.225174; finalDepth = 380.030364; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.665321 # Actual altitude: 53.665321 # Commanded vehicle depth: 380.030364 # Seafloor depth: -430.030364 # 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 94 # Segment length 101.007224 meters # Minimum depth: 431.225174 meters looking forward 100.000000 meters along route # Maximum depth: 434.514580 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 381.225174 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788635; longitude = -121.900111; duration = 404; initialDepth = 373.368352; finalDepth = 381.225174; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.289406 # Actual altitude: 53.289406 # Commanded vehicle depth: 381.225174 # Seafloor depth: -434.514580 # 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 94 # Segment length 101.007212 meters # Minimum depth: 423.368352 meters looking forward 100.000000 meters along route # Maximum depth: 430.771393 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 373.368352 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789536; longitude = -121.900272; duration = 404; initialDepth = 368.055692; finalDepth = 373.368352; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.403041 # Actual altitude: 57.403041 # Commanded vehicle depth: 373.368352 # Seafloor depth: -430.771393 # 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 94 # Segment length 101.007200 meters # Minimum depth: 418.055692 meters looking forward 100.000000 meters along route # Maximum depth: 422.972396 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 368.055692 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790437; longitude = -121.900433; duration = 404; initialDepth = 370.509880; finalDepth = 368.055692; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.403041 # Actual altitude: 57.403041 # Commanded vehicle depth: 368.055692 # Seafloor depth: -422.972396 # 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 94 # Segment length 101.007187 meters # Minimum depth: 420.509880 meters looking forward 100.000000 meters along route # Maximum depth: 434.286823 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 370.509880 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791338; longitude = -121.900593; duration = 404; initialDepth = 372.554426; finalDepth = 370.509880; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.916704 # Actual altitude: 54.916704 # Commanded vehicle depth: 370.50988 # Seafloor depth: -420.509880 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.95; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 94 # Segment length 101.007174 meters # Minimum depth: 422.554426 meters looking forward 100.000000 meters along route # Maximum depth: 434.867223 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 372.554426 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792240; longitude = -121.900754; duration = 404; initialDepth = 363.724492; finalDepth = 372.554426; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.312797 # Actual altitude: 62.312797 # Commanded vehicle depth: 372.554426 # Seafloor depth: -434.867223 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 94 # Segment length 101.007162 meters # Minimum depth: 413.724492 meters looking forward 100.000000 meters along route # Maximum depth: 420.275695 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 363.724492 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793141; longitude = -121.900914; duration = 404; initialDepth = 349.389236; finalDepth = 363.724492; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.312797 # Actual altitude: 62.312797 # Commanded vehicle depth: 363.724492 # Seafloor depth: -420.275695 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 94 # Segment length 107.689287 meters # Minimum depth: 399.389236 meters looking forward 100.000000 meters along route # Maximum depth: 412.690522 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 349.389236 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794042; longitude = -121.901075; duration = 430; initialDepth = 342.248918; finalDepth = 349.389236; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 63.301286 # Actual altitude: 63.301286 # Commanded vehicle depth: 349.389236 # Seafloor depth: -412.690522 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.98; 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 93 # Segment length 114.091319 meters # Minimum depth: 392.248918 meters looking forward 100.000000 meters along route # Maximum depth: 399.463028 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 342.248918 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795003; longitude = -121.901246; duration = 456; # abortOnTimeout = True; initialDepth = 341.515688; finalDepth = 342.248918; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.301286 # Actual altitude: 63.301286 # Commanded vehicle depth: 342.248918 # Seafloor depth: -399.463028 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 110.027027 meters # Minimum depth: 391.515688 meters looking forward 100.000000 meters along route # Maximum depth: 402.912084 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 341.515688 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795595; longitude = -121.900200; duration = 440; initialDepth = 357.230266; finalDepth = 341.515688; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.21411 # Actual altitude: 57.21411 # Commanded vehicle depth: 341.515688 # Seafloor depth: -392.154534 # 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 93 # Segment length 105.979106 meters # Minimum depth: 407.230266 meters looking forward 100.000000 meters along route # Maximum depth: 455.952782 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 357.230266 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796166; longitude = -121.899192; duration = 423; initialDepth = 395.803505; finalDepth = 357.230266; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50.638846 # Actual altitude: 50.638846 # Commanded vehicle depth: 357.230266 # Seafloor depth: -407.230266 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 92 # Segment length 155.153283 meters # Minimum depth: 455.396097 meters looking forward 100.000000 meters along route # Maximum depth: 468.890542 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 395.803505 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796716; longitude = -121.898221; duration = 620; # abortOnTimeout = True; initialDepth = 396.130270; finalDepth = 395.803505; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 63.7527766764992 # Actual altitude: 63.7527766764992 # Commanded vehicle depth: 395.803505323501 # Seafloor depth: -459.556282 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.25; 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 91 # Segment length 75.428439 meters # Minimum depth: 446.130270 meters looking forward 100.000000 meters along route # Maximum depth: 456.607294 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 396.130270 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796355; longitude = -121.896541; duration = 301; # abortOnTimeout = True; initialDepth = 392.754179; finalDepth = 396.130270; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.7527766764992 # Actual altitude: 63.7527766764992 # Commanded vehicle depth: 396.13027 # Seafloor depth: -454.299637 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 103.613033 meters # Minimum depth: 442.754179 meters looking forward 100.000000 meters along route # Maximum depth: 449.115957 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 392.754179 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795874; longitude = -121.895943; duration = 414; initialDepth = 392.177189; finalDepth = 392.754179; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.169367 # Actual altitude: 58.169367 # Commanded vehicle depth: 392.754179 # Seafloor depth: -445.770234 # 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 91 # Segment length 108.452963 meters # Minimum depth: 442.177189 meters looking forward 100.000000 meters along route # Maximum depth: 453.357135 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 392.177189 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795214; longitude = -121.895122; duration = 433; initialDepth = 388.128407; finalDepth = 392.177189; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.016055 # Actual altitude: 53.016055 # Commanded vehicle depth: 392.177189 # Seafloor depth: -442.377768 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 91 # Segment length 103.631513 meters # Minimum depth: 438.128407 meters looking forward 100.000000 meters along route # Maximum depth: 454.181816 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 388.128407 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794522; longitude = -121.894263; duration = 414; initialDepth = 363.052937; finalDepth = 388.128407; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.782955 # Actual altitude: 65.782955 # Commanded vehicle depth: 388.128407 # Seafloor depth: -453.911362 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 91 # Segment length 103.683165 meters # Minimum depth: 413.052937 meters looking forward 100.000000 meters along route # Maximum depth: 436.774920 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 363.052937 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793862; longitude = -121.893442; duration = 414; initialDepth = 352.491323; finalDepth = 363.052937; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 73.721983 # Actual altitude: 73.721983 # Commanded vehicle depth: 363.052937 # Seafloor depth: -436.774920 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.23; 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 90 # Segment length 174.808518 meters # Minimum depth: 402.491323 meters looking forward 100.000000 meters along route # Maximum depth: 412.360443 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 352.491323 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793201; longitude = -121.892620; duration = 699; # abortOnTimeout = True; initialDepth = 344.258179; finalDepth = 352.491323; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.721983 # Actual altitude: 73.721983 # Commanded vehicle depth: 352.491323 # Seafloor depth: -412.360443 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 100.834189 meters # Minimum depth: 394.258179 meters looking forward 100.000000 meters along route # Maximum depth: 401.450144 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 344.258179 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793408; longitude = -121.890678; duration = 403; initialDepth = 338.925251; finalDepth = 344.258179; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.86912 # Actual altitude: 59.86912 # Commanded vehicle depth: 344.258179 # Seafloor depth: -401.450144 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 90 # Segment length 100.834060 meters # Minimum depth: 388.925251 meters looking forward 100.000000 meters along route # Maximum depth: 393.454967 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 338.925251 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793527; longitude = -121.889557; duration = 403; initialDepth = 329.965396; finalDepth = 338.925251; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.191965 # Actual altitude: 57.191965 # Commanded vehicle depth: 338.925251 # Seafloor depth: -393.454967 # 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 90 # Segment length 100.833931 meters # Minimum depth: 379.965396 meters looking forward 100.000000 meters along route # Maximum depth: 387.865314 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 329.965396 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793646; longitude = -121.888437; duration = 403; initialDepth = 329.117738; finalDepth = 329.965396; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.899918 # Actual altitude: 57.899918 # Commanded vehicle depth: 329.965396 # Seafloor depth: -387.865314 # 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 90 # Segment length 100.833802 meters # Minimum depth: 379.117738 meters looking forward 100.000000 meters along route # Maximum depth: 379.980585 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 329.117738 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793766; longitude = -121.887317; duration = 403; initialDepth = 326.622764; finalDepth = 329.117738; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.899918 # Actual altitude: 57.899918 # Commanded vehicle depth: 329.117738 # Seafloor depth: -379.548047 # 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 90 # Segment length 107.514181 meters # Minimum depth: 376.622764 meters looking forward 100.000000 meters along route # Maximum depth: 379.832395 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 326.622764 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793885; longitude = -121.886197; duration = 430; initialDepth = 326.244503; finalDepth = 326.622764; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 53.209631 # Actual altitude: 53.209631 # Commanded vehicle depth: 326.622764 # Seafloor depth: -379.832395 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 89 # Segment length 98.003546 meters # Minimum depth: 376.244503 meters looking forward 100.000000 meters along route # Maximum depth: 377.225753 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 326.244503 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794012; longitude = -121.885002; duration = 392; # abortOnTimeout = True; initialDepth = 317.072587; finalDepth = 326.244503; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.209631 # Actual altitude: 53.209631 # Commanded vehicle depth: 326.244503 # Seafloor depth: -376.452255 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 105.791791 meters # Minimum depth: 367.072587 meters looking forward 100.000000 meters along route # Maximum depth: 376.216935 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 317.072587 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793547; longitude = -121.884068; duration = 423; initialDepth = 305.960431; finalDepth = 317.072587; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.144348 # Actual altitude: 59.144348 # Commanded vehicle depth: 317.072587 # Seafloor depth: -376.216935 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 89 # Segment length 105.792310 meters # Minimum depth: 355.960431 meters looking forward 100.000000 meters along route # Maximum depth: 367.043499 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 305.960431 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793046; longitude = -121.883060; duration = 423; initialDepth = 306.589006; finalDepth = 305.960431; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.083068 # Actual altitude: 61.083068 # Commanded vehicle depth: 305.960431 # Seafloor depth: -367.043499 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 89 # Segment length 105.792830 meters # Minimum depth: 356.589006 meters looking forward 100.000000 meters along route # Maximum depth: 368.270836 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 306.589006 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792544; longitude = -121.882051; duration = 423; initialDepth = 306.493906; finalDepth = 306.589006; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.083068 # Actual altitude: 61.083068 # Commanded vehicle depth: 306.589006 # Seafloor depth: -356.589006 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 89 # Segment length 110.391316 meters # Minimum depth: 356.493906 meters looking forward 100.000000 meters along route # Maximum depth: 370.307542 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 306.493906 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792042; longitude = -121.881043; duration = 441; initialDepth = 292.098572; finalDepth = 306.493906; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.905464 # Actual altitude: 59.905464 # Commanded vehicle depth: 306.493906 # Seafloor depth: -366.399370 # 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 89 # Segment length 101.195905 meters # Minimum depth: 342.098572 meters looking forward 100.000000 meters along route # Maximum depth: 355.413059 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 292.098572 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791519; longitude = -121.879991; duration = 404; initialDepth = 270.921842; finalDepth = 292.098572; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.314487 # Actual altitude: 63.314487 # Commanded vehicle depth: 292.098572 # Seafloor depth: -355.413059 # 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 89 # Segment length 107.857508 meters # Minimum depth: 320.921842 meters looking forward 100.000000 meters along route # Maximum depth: 343.604008 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 270.921842 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791039; longitude = -121.879027; duration = 431; initialDepth = 258.949931; finalDepth = 270.921842; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.682166 # Actual altitude: 72.682166 # Commanded vehicle depth: 270.921842 # Seafloor depth: -343.604008 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 89 # Segment length 107.609439 meters # Minimum depth: 308.949931 meters looking forward 100.000000 meters along route # Maximum depth: 321.086427 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 258.949931 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790527; longitude = -121.877999; duration = 430; initialDepth = 259.162910; finalDepth = 258.949931; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 72.682166 # Actual altitude: 72.682166 # Commanded vehicle depth: 258.949931 # Seafloor depth: -321.086427 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.61; 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 88 # Segment length 104.116954 meters # Minimum depth: 309.162910 meters looking forward 100.000000 meters along route # Maximum depth: 322.193561 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 259.162910 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790017; longitude = -121.876973; duration = 416; # abortOnTimeout = True; initialDepth = 272.954798; finalDepth = 259.162910; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.136496 # Actual altitude: 62.136496 # Commanded vehicle depth: 259.16291 # Seafloor depth: -309.162910 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 107.668235 meters # Minimum depth: 322.954798 meters looking forward 100.000000 meters along route # Maximum depth: 333.125794 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 272.954798 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790366; longitude = -121.875890; duration = 430; initialDepth = 283.999546; finalDepth = 272.954798; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 272.954798 # Seafloor depth: -322.954798 # 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 88 # Segment length 107.667827 meters # Minimum depth: 333.999546 meters looking forward 100.000000 meters along route # Maximum depth: 345.562333 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 283.999546 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790726; longitude = -121.874769; duration = 430; initialDepth = 289.674377; finalDepth = 283.999546; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 283.999546 # Seafloor depth: -333.999546 # 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 88 # Segment length 107.667420 meters # Minimum depth: 339.674377 meters looking forward 100.000000 meters along route # Maximum depth: 344.109768 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 289.674377 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791086; longitude = -121.873649; duration = 430; initialDepth = 289.598598; finalDepth = 289.674377; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.435391 # Actual altitude: 54.435391 # Commanded vehicle depth: 289.674377 # Seafloor depth: -344.109768 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 88 # Segment length 107.667013 meters # Minimum depth: 339.598598 meters looking forward 100.000000 meters along route # Maximum depth: 348.542368 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 289.598598 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791447; longitude = -121.872529; duration = 430; initialDepth = 295.981409; finalDepth = 289.598598; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.435391 # Actual altitude: 54.435391 # Commanded vehicle depth: 289.598598 # Seafloor depth: -339.598598 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 88 # Segment length 107.666605 meters # Minimum depth: 345.981409 meters looking forward 100.000000 meters along route # Maximum depth: 349.198279 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 295.981409 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791807; longitude = -121.871408; duration = 430; initialDepth = 294.128813; finalDepth = 295.981409; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.614478 # Actual altitude: 52.614478 # Commanded vehicle depth: 295.981409 # Seafloor depth: -348.595887 # 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 88 # Segment length 107.666198 meters # Minimum depth: 344.128813 meters looking forward 100.000000 meters along route # Maximum depth: 349.231700 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 294.128813 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792168; longitude = -121.870288; duration = 430; initialDepth = 280.914400; finalDepth = 294.128813; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.614478 # Actual altitude: 52.614478 # Commanded vehicle depth: 294.128813 # Seafloor depth: -346.000134 # 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 88 # Segment length 107.665791 meters # Minimum depth: 330.914400 meters looking forward 100.000000 meters along route # Maximum depth: 343.913485 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 280.914400 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792528; longitude = -121.869168; duration = 430; initialDepth = 265.168576; finalDepth = 280.914400; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.999085 # Actual altitude: 62.999085 # Commanded vehicle depth: 280.9144 # Seafloor depth: -343.913485 # 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 88 # Segment length 107.665384 meters # Minimum depth: 315.168576 meters looking forward 100.000000 meters along route # Maximum depth: 329.960347 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 265.168576 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792889; longitude = -121.868047; duration = 430; initialDepth = 255.305725; finalDepth = 265.168576; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.791771 # Actual altitude: 64.791771 # Commanded vehicle depth: 265.168576 # Seafloor depth: -329.960347 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 88 # Segment length 107.664976 meters # Minimum depth: 305.305725 meters looking forward 100.000000 meters along route # Maximum depth: 314.436827 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 255.305725 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793249; longitude = -121.866927; duration = 430; initialDepth = 258.699636; finalDepth = 255.305725; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.791771 # Actual altitude: 64.791771 # Commanded vehicle depth: 255.305725 # Seafloor depth: -314.436827 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 88 # Segment length 102.268030 meters # Minimum depth: 308.699636 meters looking forward 100.000000 meters along route # Maximum depth: 314.752155 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 258.699636 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793610; longitude = -121.865807; duration = 409; initialDepth = 264.386927; finalDepth = 258.699636; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.131102 # Actual altitude: 59.131102 # Commanded vehicle depth: 258.699636 # Seafloor depth: -308.699636 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 88 # Segment length 102.294304 meters # Minimum depth: 314.386927 meters looking forward 100.000000 meters along route # Maximum depth: 316.314115 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 264.386927 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793952; longitude = -121.864743; duration = 409; initialDepth = 249.309659; finalDepth = 264.386927; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.118707 # Actual altitude: 50.118707 # Commanded vehicle depth: 264.386927 # Seafloor depth: -314.505634 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 88 # Segment length 104.097720 meters # Minimum depth: 299.309659 meters looking forward 100.000000 meters along route # Maximum depth: 316.016284 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 249.309659 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794294; longitude = -121.863678; duration = 416; initialDepth = 246.778746; finalDepth = 249.309659; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 66.706625 # Actual altitude: 66.706625 # Commanded vehicle depth: 249.309659 # Seafloor depth: -316.016284 # 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 to get to end of line 87 # Segment length 92.820868 meters # Minimum depth: 296.778746 meters looking forward 100.000000 meters along route # Maximum depth: 303.054840 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 246.778746 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794643; longitude = -121.862595; duration = 371; # abortOnTimeout = True; initialDepth = 253.224025; finalDepth = 246.778746; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.706625 # Actual altitude: 66.706625 # Commanded vehicle depth: 246.778746 # Seafloor depth: -297.787300 # 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 87 # Segment length 103.087679 meters # Minimum depth: 303.224025 meters looking forward 100.000000 meters along route # Maximum depth: 305.741000 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 253.224025 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795255; longitude = -121.861886; duration = 412; initialDepth = 251.004772; finalDepth = 253.224025; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.008554 # Actual altitude: 51.008554 # Commanded vehicle depth: 253.224025 # Seafloor depth: -304.219013 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 87 # Segment length 109.346671 meters # Minimum depth: 301.004772 meters looking forward 100.000000 meters along route # Maximum depth: 306.998318 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 251.004772 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795935; longitude = -121.861098; duration = 437; initialDepth = 241.598797; finalDepth = 251.004772; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.512344 # Actual altitude: 54.512344 # Commanded vehicle depth: 251.004772 # Seafloor depth: -305.517116 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 87 # Segment length 100.287712 meters # Minimum depth: 291.598797 meters looking forward 100.000000 meters along route # Maximum depth: 299.985044 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 241.598797 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796656; longitude = -121.860262; duration = 401; initialDepth = 241.598797; finalDepth = 241.598797; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 58.386247 # Actual altitude: 58.386247 # Commanded vehicle depth: 241.598797 # Seafloor depth: -299.985044 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.03; 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 86 # Segment length 89.562933 meters # Minimum depth: 291.598797 meters looking forward 100.000000 meters along route # Maximum depth: 311.121729 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 241.598797 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797317; longitude = -121.859496; duration = 358; # abortOnTimeout = True; initialDepth = 263.005036; finalDepth = 241.598797; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.386247 # Actual altitude: 58.386247 # Commanded vehicle depth: 241.598797 # Seafloor depth: -291.796654 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 106.834450 meters # Minimum depth: 313.005036 meters looking forward 100.000000 meters along route # Maximum depth: 324.892684 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 263.005036 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798098; longitude = -121.859241; duration = 427; initialDepth = 246.690098; finalDepth = 263.005036; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50.197857 # Actual altitude: 50.197857 # Commanded vehicle depth: 263.005036 # Seafloor depth: -313.005036 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.12; 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 85 # Segment length 136.808349 meters # Minimum depth: 296.690098 meters looking forward 100.000000 meters along route # Maximum depth: 324.730392 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 246.690098 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799029; longitude = -121.858936; duration = 547; # abortOnTimeout = True; initialDepth = 234.065405; finalDepth = 246.690098; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 78.040294 # Actual altitude: 78.040294 # Commanded vehicle depth: 246.690098 # Seafloor depth: -324.730392 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.82; 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 84 # Segment length 76.313400 meters # Minimum depth: 284.065405 meters looking forward 100.000000 meters along route # Maximum depth: 300.251074 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 234.065405 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798338; longitude = -121.857666; duration = 305; # abortOnTimeout = True; initialDepth = 232.421069; finalDepth = 234.065405; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.040294 # Actual altitude: 78.040294 # Commanded vehicle depth: 234.065405 # Seafloor depth: -295.021210 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 103.032339 meters # Minimum depth: 282.421069 meters looking forward 100.000000 meters along route # Maximum depth: 283.541824 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 232.421069 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797737; longitude = -121.857249; duration = 412; initialDepth = 212.073550; finalDepth = 232.421069; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.955805 # Actual altitude: 60.955805 # Commanded vehicle depth: 232.421069 # Seafloor depth: -283.508646 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 84 # Segment length 103.032598 meters # Minimum depth: 262.073550 meters looking forward 100.000000 meters along route # Maximum depth: 283.477304 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 212.073550 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796926; longitude = -121.856687; duration = 412; initialDepth = 190.211927; finalDepth = 212.073550; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.403754 # Actual altitude: 71.403754 # Commanded vehicle depth: 212.07355 # Seafloor depth: -283.477304 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 84 # Segment length 103.032859 meters # Minimum depth: 240.211927 meters looking forward 100.000000 meters along route # Maximum depth: 260.026330 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 190.211927 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796115; longitude = -121.856125; duration = 412; initialDepth = 172.284456; finalDepth = 190.211927; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.403754 # Actual altitude: 71.403754 # Commanded vehicle depth: 190.211927 # Seafloor depth: -260.026330 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 84 # Segment length 103.033119 meters # Minimum depth: 222.284456 meters looking forward 100.000000 meters along route # Maximum depth: 238.158341 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 172.284456 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795304; longitude = -121.855562; duration = 412; initialDepth = 171.572454; finalDepth = 172.284456; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.814403 # Actual altitude: 69.814403 # Commanded vehicle depth: 172.284456 # Seafloor depth: -238.158341 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 84 # Segment length 106.798574 meters # Minimum depth: 221.572454 meters looking forward 100.000000 meters along route # Maximum depth: 223.721157 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 171.572454 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794493; longitude = -121.855000; duration = 427; initialDepth = 166.897284; finalDepth = 171.572454; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 65.873885 # Actual altitude: 65.873885 # Commanded vehicle depth: 171.572454 # Seafloor depth: -222.121685 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 83 # Segment length 164.921746 meters # Minimum depth: 216.897284 meters looking forward 100.000000 meters along route # Maximum depth: 223.166126 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 166.897284 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793652; longitude = -121.854417; duration = 659; # abortOnTimeout = True; initialDepth = 159.826847; finalDepth = 166.897284; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.268842 # Actual altitude: 56.268842 # Commanded vehicle depth: 166.897284 # Seafloor depth: -223.166126 # 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 83 # Segment length 107.554285 meters # Minimum depth: 209.826847 meters looking forward 100.000000 meters along route # Maximum depth: 216.852492 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 159.826847 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793103; longitude = -121.852699; duration = 430; initialDepth = 149.958728; finalDepth = 159.826847; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.025645 # Actual altitude: 57.025645 # Commanded vehicle depth: 159.826847 # Seafloor depth: -216.852492 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 83 # Segment length 107.554745 meters # Minimum depth: 199.958728 meters looking forward 100.000000 meters along route # Maximum depth: 208.928190 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 149.958728 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792746; longitude = -121.851579; duration = 430; initialDepth = 149.516509; finalDepth = 149.958728; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.969462 # Actual altitude: 58.969462 # Commanded vehicle depth: 149.958728 # Seafloor depth: -208.928190 # 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 83 # Segment length 107.555203 meters # Minimum depth: 199.516509 meters looking forward 100.000000 meters along route # Maximum depth: 227.074931 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 149.516509 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792388; longitude = -121.850458; duration = 430; initialDepth = 178.596263; finalDepth = 149.516509; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.969462 # Actual altitude: 58.969462 # Commanded vehicle depth: 149.516509 # Seafloor depth: -199.897554 # 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 83 # Segment length 107.555661 meters # Minimum depth: 228.596263 meters looking forward 100.000000 meters along route # Maximum depth: 232.021820 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 178.596263 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792030; longitude = -121.849338; duration = 430; initialDepth = 169.737412; finalDepth = 178.596263; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.804943 # Actual altitude: 50.804943 # Commanded vehicle depth: 178.596263 # Seafloor depth: -229.401206 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 83 # Segment length 107.556119 meters # Minimum depth: 219.737412 meters looking forward 100.000000 meters along route # Maximum depth: 228.396943 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 169.737412 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791673; longitude = -121.848218; duration = 430; initialDepth = 169.169858; finalDepth = 169.737412; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.659531 # Actual altitude: 58.659531 # Commanded vehicle depth: 169.737412 # Seafloor depth: -228.396943 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 83 # Segment length 107.556578 meters # Minimum depth: 219.169858 meters looking forward 100.000000 meters along route # Maximum depth: 222.032496 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 169.169858 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791315; longitude = -121.847098; duration = 430; initialDepth = 165.901568; finalDepth = 169.169858; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.659531 # Actual altitude: 58.659531 # Commanded vehicle depth: 169.169858 # Seafloor depth: -219.169858 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 83 # Segment length 107.557037 meters # Minimum depth: 215.901568 meters looking forward 100.000000 meters along route # Maximum depth: 218.814633 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 165.901568 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790957; longitude = -121.845977; duration = 430; initialDepth = 165.163021; finalDepth = 165.901568; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.680824 # Actual altitude: 52.680824 # Commanded vehicle depth: 165.901568 # Seafloor depth: -218.582392 # 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 83 # Segment length 107.557495 meters # Minimum depth: 215.163021 meters looking forward 100.000000 meters along route # Maximum depth: 217.101573 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 165.163021 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790599; longitude = -121.844857; duration = 430; initialDepth = 164.395294; finalDepth = 165.163021; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.680824 # Actual altitude: 52.680824 # Commanded vehicle depth: 165.163021 # Seafloor depth: -215.599317 # 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 83 # Segment length 103.776095 meters # Minimum depth: 214.395294 meters looking forward 100.000000 meters along route # Maximum depth: 217.313812 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 164.395294 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790242; longitude = -121.843737; duration = 415; initialDepth = 157.899474; finalDepth = 164.395294; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.918518 # Actual altitude: 52.918518 # Commanded vehicle depth: 164.395294 # Seafloor depth: -217.313812 # 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 83 # Segment length 100.584409 meters # Minimum depth: 207.899474 meters looking forward 100.000000 meters along route # Maximum depth: 213.416086 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 157.899474 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789896; longitude = -121.842656; duration = 402; initialDepth = 149.030619; finalDepth = 157.899474; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.516612 # Actual altitude: 55.516612 # Commanded vehicle depth: 157.899474 # Seafloor depth: -213.416086 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 83 # Segment length 107.558825 meters # Minimum depth: 199.030619 meters looking forward 100.000000 meters along route # Maximum depth: 204.969979 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 149.030619 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789562; longitude = -121.841608; duration = 430; initialDepth = 136.920219; finalDepth = 149.030619; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.93936 # Actual altitude: 55.93936 # Commanded vehicle depth: 149.030619 # Seafloor depth: -204.969979 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 83 # Segment length 107.559284 meters # Minimum depth: 186.920219 meters looking forward 100.000000 meters along route # Maximum depth: 200.006233 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 136.920219 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789204; longitude = -121.840488; duration = 430; initialDepth = 137.302833; finalDepth = 136.920219; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.086014 # Actual altitude: 63.086014 # Commanded vehicle depth: 136.920219 # Seafloor depth: -200.006233 # 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 83 # Segment length 107.559742 meters # Minimum depth: 187.302833 meters looking forward 100.000000 meters along route # Maximum depth: 195.859487 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 137.302833 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788846; longitude = -121.839367; duration = 430; initialDepth = 122.504154; finalDepth = 137.302833; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.086014 # Actual altitude: 63.086014 # Commanded vehicle depth: 137.302833 # Seafloor depth: -187.302833 # 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 83 # Segment length 107.560201 meters # Minimum depth: 172.504154 meters looking forward 100.000000 meters along route # Maximum depth: 194.041107 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 122.504154 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788489; longitude = -121.838247; duration = 430; initialDepth = 105.645278; finalDepth = 122.504154; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.536953 # Actual altitude: 71.536953 # Commanded vehicle depth: 122.504154 # Seafloor depth: -194.041107 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 83 # Segment length 107.560659 meters # Minimum depth: 155.645278 meters looking forward 100.000000 meters along route # Maximum depth: 169.881638 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 105.645278 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788131; longitude = -121.837127; duration = 430; initialDepth = 111.861769; finalDepth = 105.645278; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.536953 # Actual altitude: 71.536953 # Commanded vehicle depth: 105.645278 # Seafloor depth: -169.881638 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 83 # Segment length 107.561118 meters # Minimum depth: 161.861769 meters looking forward 100.000000 meters along route # Maximum depth: 170.499180 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 111.861769 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787773; longitude = -121.836006; duration = 430; initialDepth = 101.456120; finalDepth = 111.861769; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.23636 # Actual altitude: 64.23636 # Commanded vehicle depth: 111.861769 # Seafloor depth: -161.861769 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 83 # Segment length 107.561577 meters # Minimum depth: 151.456120 meters looking forward 100.000000 meters along route # Maximum depth: 166.091133 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 101.456120 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787415; longitude = -121.834886; duration = 430; initialDepth = 95.950513; finalDepth = 101.456120; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.635013 # Actual altitude: 64.635013 # Commanded vehicle depth: 101.45612 # Seafloor depth: -166.091133 # 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 83 # Segment length 103.959906 meters # Minimum depth: 145.950513 meters looking forward 100.000000 meters along route # Maximum depth: 155.458538 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 95.950513 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787058; longitude = -121.833766; duration = 415; initialDepth = 105.881359; finalDepth = 95.950513; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 64.635013 # Actual altitude: 64.635013 # Commanded vehicle depth: 95.950513 # Seafloor depth: -150.341839 # 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 to get to end of line 82 # Segment length 97.737875 meters # Minimum depth: 155.881359 meters looking forward 100.000000 meters along route # Maximum depth: 169.760288 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 105.881359 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786712; longitude = -121.832683; duration = 390; # abortOnTimeout = True; initialDepth = 119.774450; finalDepth = 105.881359; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.391326 # Actual altitude: 54.391326 # Commanded vehicle depth: 105.881359 # Seafloor depth: -155.881359 # 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 82 # Segment length 101.313549 meters # Minimum depth: 169.774450 meters looking forward 100.000000 meters along route # Maximum depth: 174.238568 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 119.774450 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786922; longitude = -121.831619; duration = 405; initialDepth = 124.702058; finalDepth = 119.774450; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 119.77445 # Seafloor depth: -169.774450 # 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 82 # Segment length 102.948984 meters # Minimum depth: 174.702058 meters looking forward 100.000000 meters along route # Maximum depth: 186.029403 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 124.702058 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787140; longitude = -121.830517; duration = 411; initialDepth = 131.008508; finalDepth = 124.702058; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 124.702058 # Seafloor depth: -174.702058 # 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 82 # Segment length 102.948732 meters # Minimum depth: 181.008508 meters looking forward 100.000000 meters along route # Maximum depth: 185.438095 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 131.008508 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787362; longitude = -121.829397; duration = 411; initialDepth = 105.711093; finalDepth = 131.008508; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.854935 # Actual altitude: 52.854935 # Commanded vehicle depth: 131.008508 # Seafloor depth: -183.863443 # 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 82 # Segment length 102.948478 meters # Minimum depth: 155.711093 meters looking forward 100.000000 meters along route # Maximum depth: 181.592963 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 105.711093 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787583; longitude = -121.828276; duration = 411; initialDepth = 98.459851; finalDepth = 105.711093; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.88187 # Actual altitude: 75.88187 # Commanded vehicle depth: 105.711093 # Seafloor depth: -181.592963 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 82 # Segment length 106.405528 meters # Minimum depth: 148.459851 meters looking forward 100.000000 meters along route # Maximum depth: 156.099023 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 98.459851 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787805; longitude = -121.827156; duration = 425; initialDepth = 82.782437; finalDepth = 98.459851; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75.88187 # Actual altitude: 75.88187 # Commanded vehicle depth: 98.459851 # Seafloor depth: -155.934938 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.53; 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 81 # Segment length 172.543904 meters # Minimum depth: 132.782437 meters looking forward 100.000000 meters along route # Maximum depth: 146.936852 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 82.782437 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788034; longitude = -121.825998; duration = 690; # abortOnTimeout = True; initialDepth = 85.177622; finalDepth = 82.782437; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.154415 # Actual altitude: 64.154415 # Commanded vehicle depth: 82.782437 # Seafloor depth: -146.936852 # 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 81 # Segment length 101.011996 meters # Minimum depth: 135.177622 meters looking forward 100.000000 meters along route # Maximum depth: 159.852093 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 85.177622 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789266; longitude = -121.824817; duration = 404; initialDepth = 90.100529; finalDepth = 85.177622; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.154415 # Actual altitude: 64.154415 # Commanded vehicle depth: 85.177622 # Seafloor depth: -138.561229 # 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 81 # Segment length 101.011666 meters # Minimum depth: 140.100529 meters looking forward 100.000000 meters along route # Maximum depth: 159.975104 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 90.100529 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789987; longitude = -121.824126; duration = 404; initialDepth = 86.993368; finalDepth = 90.100529; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.874575 # Actual altitude: 69.874575 # Commanded vehicle depth: 90.100529 # Seafloor depth: -159.975104 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 81 # Segment length 101.011337 meters # Minimum depth: 136.993368 meters looking forward 100.000000 meters along route # Maximum depth: 145.285374 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 86.993368 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790708; longitude = -121.823435; duration = 404; initialDepth = 96.237762; finalDepth = 86.993368; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.874575 # Actual altitude: 69.874575 # Commanded vehicle depth: 86.993368 # Seafloor depth: -139.622302 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 81 # Segment length 101.011008 meters # Minimum depth: 146.237762 meters looking forward 100.000000 meters along route # Maximum depth: 155.058355 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 96.237762 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791429; longitude = -121.822743; duration = 404; initialDepth = 97.834139; finalDepth = 96.237762; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.628934 # Actual altitude: 52.628934 # Commanded vehicle depth: 96.237762 # Seafloor depth: -147.322813 # 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 81 # Segment length 101.010678 meters # Minimum depth: 147.834139 meters looking forward 100.000000 meters along route # Maximum depth: 151.168629 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 97.834139 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792150; longitude = -121.822052; duration = 404; initialDepth = 95.918291; finalDepth = 97.834139; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.085051 # Actual altitude: 51.085051 # Commanded vehicle depth: 97.834139 # Seafloor depth: -148.145703 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 81 # Segment length 102.676456 meters # Minimum depth: 145.918291 meters looking forward 100.000000 meters along route # Maximum depth: 150.643736 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 95.918291 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792871; longitude = -121.821361; duration = 410; initialDepth = 84.687194; finalDepth = 95.918291; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.933662 # Actual altitude: 53.933662 # Commanded vehicle depth: 95.918291 # Seafloor depth: -149.851953 # 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 81 # Segment length 103.615559 meters # Minimum depth: 134.687194 meters looking forward 100.000000 meters along route # Maximum depth: 145.732859 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 84.687194 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793603; longitude = -121.820658; duration = 414; initialDepth = 84.137802; finalDepth = 84.687194; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 61.045665 # Actual altitude: 61.045665 # Commanded vehicle depth: 84.687194 # Seafloor depth: -145.732859 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 80 # Segment length 107.488682 meters # Minimum depth: 134.137802 meters looking forward 100.000000 meters along route # Maximum depth: 146.318973 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 84.137802 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794343; longitude = -121.819949; duration = 429; # abortOnTimeout = True; initialDepth = 96.618462; finalDepth = 84.137802; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.045665 # Actual altitude: 61.045665 # Commanded vehicle depth: 84.137802 # Seafloor depth: -134.137802 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 100.980574 meters # Minimum depth: 146.618462 meters looking forward 100.000000 meters along route # Maximum depth: 149.476105 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 96.618462 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795304; longitude = -121.819795; duration = 403; initialDepth = 96.125471; finalDepth = 96.618462; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.526514 # Actual altitude: 50.526514 # Commanded vehicle depth: 96.618462 # Seafloor depth: -147.144976 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 80 # Segment length 100.654877 meters # Minimum depth: 146.125471 meters looking forward 100.000000 meters along route # Maximum depth: 154.775518 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 96.125471 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796207; longitude = -121.819650; duration = 402; initialDepth = 91.772439; finalDepth = 96.125471; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.526514 # Actual altitude: 50.526514 # Commanded vehicle depth: 96.125471 # Seafloor depth: -146.613759 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 80 # Segment length 107.574666 meters # Minimum depth: 141.772439 meters looking forward 100.000000 meters along route # Maximum depth: 155.419268 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 91.772439 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797106; longitude = -121.819505; duration = 430; initialDepth = 91.123744; finalDepth = 91.772439; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 63.472394 # Actual altitude: 63.472394 # Commanded vehicle depth: 91.772439 # Seafloor depth: -155.244833 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 79 # Segment length 99.900885 meters # Minimum depth: 141.123744 meters looking forward 100.000000 meters along route # Maximum depth: 144.286504 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 91.123744 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798068; longitude = -121.819351; duration = 399; # abortOnTimeout = True; initialDepth = 95.235611; finalDepth = 91.123744; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 63.472394 # Actual altitude: 63.472394 # Commanded vehicle depth: 91.123744 # Seafloor depth: -141.404503 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 78 # Segment length 147.503065 meters # Minimum depth: 145.235611 meters looking forward 100.000000 meters along route # Maximum depth: 168.512783 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 95.235611 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798608; longitude = -121.820247; duration = 590; # abortOnTimeout = True; initialDepth = 115.824085; finalDepth = 95.235611; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.280759 # Actual altitude: 50.280759 # Commanded vehicle depth: 95.235611 # Seafloor depth: -145.235611 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 100.602606 meters # Minimum depth: 165.824085 meters looking forward 100.000000 meters along route # Maximum depth: 169.128824 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 115.824085 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797287; longitude = -121.820429; duration = 402; initialDepth = 118.419592; finalDepth = 115.824085; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.574466 # Actual altitude: 52.574466 # Commanded vehicle depth: 115.824085 # Seafloor depth: -168.398551 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 78 # Segment length 100.602603 meters # Minimum depth: 168.419592 meters looking forward 100.000000 meters along route # Maximum depth: 170.679322 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 118.419592 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796385; longitude = -121.820554; duration = 402; initialDepth = 115.387385; finalDepth = 118.419592; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.574466 # Actual altitude: 52.574466 # Commanded vehicle depth: 118.419592 # Seafloor depth: -169.151043 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 78 # Segment length 103.938223 meters # Minimum depth: 165.387385 meters looking forward 100.000000 meters along route # Maximum depth: 173.869172 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 115.387385 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795484; longitude = -121.820678; duration = 415; initialDepth = 125.300968; finalDepth = 115.387385; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 52.549665 # Actual altitude: 52.549665 # Commanded vehicle depth: 115.387385 # Seafloor depth: -167.937050 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 77 # Segment length 153.104497 meters # Minimum depth: 175.300968 meters looking forward 100.000000 meters along route # Maximum depth: 193.524411 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 125.300968 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794553; longitude = -121.820807; duration = 612; # abortOnTimeout = True; initialDepth = 144.420798; finalDepth = 125.300968; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.549665 # Actual altitude: 52.549665 # Commanded vehicle depth: 125.300968 # Seafloor depth: -175.300968 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 104.970499 meters # Minimum depth: 194.420798 meters looking forward 100.000000 meters along route # Maximum depth: 211.458845 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 144.420798 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793501; longitude = -121.821918; duration = 419; initialDepth = 141.690485; finalDepth = 144.420798; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 144.420798 # Seafloor depth: -194.420798 # 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 77 # Segment length 107.342577 meters # Minimum depth: 191.690485 meters looking forward 100.000000 meters along route # Maximum depth: 212.309794 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 141.690485 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792780; longitude = -121.822680; duration = 429; initialDepth = 141.708618; finalDepth = 141.690485; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.417845 # Actual altitude: 69.417845 # Commanded vehicle depth: 141.690485 # Seafloor depth: -211.108330 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 77 # Segment length 102.599582 meters # Minimum depth: 191.708618 meters looking forward 100.000000 meters along route # Maximum depth: 209.303111 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 141.708618 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792043; longitude = -121.823459; duration = 410; initialDepth = 150.617353; finalDepth = 141.708618; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.417845 # Actual altitude: 69.417845 # Commanded vehicle depth: 141.708618 # Seafloor depth: -191.708618 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 77 # Segment length 104.971659 meters # Minimum depth: 200.617353 meters looking forward 100.000000 meters along route # Maximum depth: 207.702954 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 150.617353 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791338; longitude = -121.824203; duration = 419; initialDepth = 143.450685; finalDepth = 150.617353; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.068117 # Actual altitude: 56.068117 # Commanded vehicle depth: 150.617353 # Seafloor depth: -206.685470 # 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 77 # Segment length 104.972047 meters # Minimum depth: 193.450685 meters looking forward 100.000000 meters along route # Maximum depth: 201.610702 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 143.450685 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790617; longitude = -121.824965; duration = 419; initialDepth = 140.662278; finalDepth = 143.450685; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.160017 # Actual altitude: 58.160017 # Commanded vehicle depth: 143.450685 # Seafloor depth: -201.610702 # 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 77 # Segment length 109.403771 meters # Minimum depth: 190.662278 meters looking forward 100.000000 meters along route # Maximum depth: 194.707625 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 140.662278 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789896; longitude = -121.825727; duration = 437; initialDepth = 140.727657; finalDepth = 140.662278; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 58.160017 # Actual altitude: 58.160017 # Commanded vehicle depth: 140.662278 # Seafloor depth: -194.118344 # 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 to get to end of line 76 # Segment length 131.296262 meters # Minimum depth: 190.727657 meters looking forward 100.000000 meters along route # Maximum depth: 202.758313 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 140.727657 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789145; longitude = -121.826521; duration = 525; # abortOnTimeout = True; initialDepth = 154.185751; finalDepth = 140.727657; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.456066 # Actual altitude: 53.456066 # Commanded vehicle depth: 140.727657 # Seafloor depth: -190.727657 # 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 76 # Segment length 103.648446 meters # Minimum depth: 204.185751 meters looking forward 100.000000 meters along route # Maximum depth: 214.260979 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 154.185751 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788833; longitude = -121.827940; duration = 414; initialDepth = 164.734523; finalDepth = 154.185751; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 154.185751 # Seafloor depth: -204.185751 # 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 76 # Segment length 103.648729 meters # Minimum depth: 214.734523 meters looking forward 100.000000 meters along route # Maximum depth: 217.501787 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 164.734523 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788586; longitude = -121.829060; duration = 414; initialDepth = 152.399322; finalDepth = 164.734523; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.664553 # Actual altitude: 50.664553 # Commanded vehicle depth: 164.734523 # Seafloor depth: -215.399076 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 76 # Segment length 103.649011 meters # Minimum depth: 202.399322 meters looking forward 100.000000 meters along route # Maximum depth: 213.251861 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 152.399322 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788339; longitude = -121.830181; duration = 414; initialDepth = 146.863722; finalDepth = 152.399322; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.852539 # Actual altitude: 60.852539 # Commanded vehicle depth: 152.399322 # Seafloor depth: -213.251861 # 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 76 # Segment length 100.187358 meters # Minimum depth: 196.863722 meters looking forward 100.000000 meters along route # Maximum depth: 202.353141 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 146.863722 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788092; longitude = -121.831301; duration = 400; initialDepth = 131.171734; finalDepth = 146.863722; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 60.852539 # Actual altitude: 60.852539 # Commanded vehicle depth: 146.863722 # Seafloor depth: -202.353141 # 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 to get to end of line 75 # Segment length 111.161844 meters # Minimum depth: 181.171734 meters looking forward 100.000000 meters along route # Maximum depth: 196.256577 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 131.171734 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787854; longitude = -121.832384; duration = 444; # abortOnTimeout = True; initialDepth = 139.621555; finalDepth = 131.171734; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.084843 # Actual altitude: 65.084843 # Commanded vehicle depth: 131.171734 # Seafloor depth: -196.256577 # 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 75 # Segment length 107.568527 meters # Minimum depth: 189.621555 meters looking forward 100.000000 meters along route # Maximum depth: 209.339327 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 139.621555 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788224; longitude = -121.833542; duration = 430; initialDepth = 159.346692; finalDepth = 139.621555; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.084843 # Actual altitude: 65.084843 # Commanded vehicle depth: 139.621555 # Seafloor depth: -189.621555 # 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 75 # Segment length 107.568069 meters # Minimum depth: 209.346692 meters looking forward 100.000000 meters along route # Maximum depth: 215.104659 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 159.346692 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788582; longitude = -121.834662; duration = 430; initialDepth = 155.672916; finalDepth = 159.346692; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 159.346692 # Seafloor depth: -209.346692 # 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 75 # Segment length 107.567609 meters # Minimum depth: 205.672916 meters looking forward 100.000000 meters along route # Maximum depth: 213.229769 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 155.672916 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788940; longitude = -121.835782; duration = 430; initialDepth = 159.301239; finalDepth = 155.672916; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.93393 # Actual altitude: 55.93393 # Commanded vehicle depth: 155.672916 # Seafloor depth: -211.606846 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 75 # Segment length 107.567150 meters # Minimum depth: 209.301239 meters looking forward 100.000000 meters along route # Maximum depth: 228.424567 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 159.301239 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789298; longitude = -121.836903; duration = 430; initialDepth = 168.310800; finalDepth = 159.301239; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.93393 # Actual altitude: 55.93393 # Commanded vehicle depth: 159.301239 # Seafloor depth: -209.301239 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 75 # Segment length 107.566692 meters # Minimum depth: 218.310800 meters looking forward 100.000000 meters along route # Maximum depth: 228.128429 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 168.310800 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789656; longitude = -121.838023; duration = 430; initialDepth = 157.656937; finalDepth = 168.310800; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.817629 # Actual altitude: 59.817629 # Commanded vehicle depth: 168.3108 # Seafloor depth: -228.128429 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 75 # Segment length 107.566232 meters # Minimum depth: 207.656937 meters looking forward 100.000000 meters along route # Maximum depth: 226.493765 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 157.656937 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790014; longitude = -121.839143; duration = 430; initialDepth = 156.258083; finalDepth = 157.656937; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.664896 # Actual altitude: 65.664896 # Commanded vehicle depth: 157.656937 # Seafloor depth: -223.321833 # 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 during line 75 # Segment length 107.565774 meters # Minimum depth: 206.258083 meters looking forward 100.000000 meters along route # Maximum depth: 218.751936 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 156.258083 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790372; longitude = -121.840264; duration = 430; initialDepth = 169.978126; finalDepth = 156.258083; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.664896 # Actual altitude: 65.664896 # Commanded vehicle depth: 156.258083 # Seafloor depth: -206.258083 # 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 during line 75 # Segment length 107.565315 meters # Minimum depth: 219.978126 meters looking forward 100.000000 meters along route # Maximum depth: 231.836775 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 169.978126 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790729; longitude = -121.841384; duration = 430; initialDepth = 180.212417; finalDepth = 169.978126; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 169.978126 # Seafloor depth: -219.978126 # 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 75 # Segment length 107.564856 meters # Minimum depth: 230.212417 meters looking forward 100.000000 meters along route # Maximum depth: 231.863890 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 180.212417 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791087; longitude = -121.842504; duration = 430; initialDepth = 182.214551; finalDepth = 180.212417; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.651473 # Actual altitude: 51.651473 # Commanded vehicle depth: 180.212417 # Seafloor depth: -231.863890 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 75 # Segment length 107.564397 meters # Minimum depth: 232.214551 meters looking forward 100.000000 meters along route # Maximum depth: 244.062828 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 182.214551 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791445; longitude = -121.843625; duration = 430; initialDepth = 194.183733; finalDepth = 182.214551; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.651473 # Actual altitude: 51.651473 # Commanded vehicle depth: 182.214551 # Seafloor depth: -232.214551 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 75 # Segment length 107.563939 meters # Minimum depth: 244.183733 meters looking forward 100.000000 meters along route # Maximum depth: 259.068711 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 194.183733 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791803; longitude = -121.844745; duration = 430; initialDepth = 204.218068; finalDepth = 194.183733; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 194.183733 # Seafloor depth: -244.183733 # 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 75 # Segment length 107.563480 meters # Minimum depth: 254.218068 meters looking forward 100.000000 meters along route # Maximum depth: 261.973524 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 204.218068 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792161; longitude = -121.845865; duration = 430; initialDepth = 190.276927; finalDepth = 204.218068; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.277912 # Actual altitude: 56.277912 # Commanded vehicle depth: 204.218068 # Seafloor depth: -260.495980 # 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 75 # Segment length 107.563021 meters # Minimum depth: 240.276927 meters looking forward 100.000000 meters along route # Maximum depth: 255.010913 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 190.276927 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792519; longitude = -121.846986; duration = 430; initialDepth = 192.208798; finalDepth = 190.276927; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.281744 # Actual altitude: 63.281744 # Commanded vehicle depth: 190.276927 # Seafloor depth: -253.558671 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 75 # Segment length 107.562563 meters # Minimum depth: 242.208798 meters looking forward 100.000000 meters along route # Maximum depth: 258.436192 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 192.208798 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792877; longitude = -121.848106; duration = 430; initialDepth = 203.322328; finalDepth = 192.208798; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.281744 # Actual altitude: 63.281744 # Commanded vehicle depth: 192.208798 # Seafloor depth: -242.208798 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 75 # Segment length 107.562104 meters # Minimum depth: 253.322328 meters looking forward 100.000000 meters along route # Maximum depth: 260.706166 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 203.322328 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793235; longitude = -121.849226; duration = 430; initialDepth = 175.339936; finalDepth = 203.322328; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.339646 # Actual altitude: 55.339646 # Commanded vehicle depth: 203.322328 # Seafloor depth: -258.661974 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 75 # Segment length 107.897247 meters # Minimum depth: 225.339936 meters looking forward 100.000000 meters along route # Maximum depth: 253.256957 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 175.339936 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793593; longitude = -121.850346; duration = 431; initialDepth = 166.331262; finalDepth = 175.339936; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.917021 # Actual altitude: 77.917021 # Commanded vehicle depth: 175.339936 # Seafloor depth: -253.256957 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 75 # Segment length 107.225584 meters # Minimum depth: 216.331262 meters looking forward 100.000000 meters along route # Maximum depth: 226.135789 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 166.331262 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793952; longitude = -121.851470; duration = 428; initialDepth = 163.484208; finalDepth = 166.331262; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.917021 # Actual altitude: 77.917021 # Commanded vehicle depth: 166.331262 # Seafloor depth: -226.135789 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 75 # Segment length 100.417262 meters # Minimum depth: 213.484208 meters looking forward 100.000000 meters along route # Maximum depth: 216.987495 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 163.484208 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794309; longitude = -121.852587; duration = 401; initialDepth = 166.000748; finalDepth = 163.484208; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 59.804527 # Actual altitude: 59.804527 # Commanded vehicle depth: 163.484208 # Seafloor depth: -216.987495 # 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 to get to end of line 74 # Segment length 119.789707 meters # Minimum depth: 216.000748 meters looking forward 100.000000 meters along route # Maximum depth: 245.858837 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 166.000748 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794643; longitude = -121.853633; duration = 479; # abortOnTimeout = True; initialDepth = 199.634355; finalDepth = 166.000748; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.503287 # Actual altitude: 53.503287 # Commanded vehicle depth: 166.000748 # Seafloor depth: -216.000748 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 104.336624 meters # Minimum depth: 249.634355 meters looking forward 100.000000 meters along route # Maximum depth: 261.508771 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 199.634355 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795574; longitude = -121.854312; duration = 417; initialDepth = 198.683667; finalDepth = 199.634355; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 199.634355 # Seafloor depth: -249.634355 # 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 74 # Segment length 105.013366 meters # Minimum depth: 248.683667 meters looking forward 100.000000 meters along route # Maximum depth: 274.552183 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 198.683667 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796385; longitude = -121.854904; duration = 420; initialDepth = 224.601274; finalDepth = 198.683667; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 198.683667 # Seafloor depth: -248.683667 # 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 74 # Segment length 103.659025 meters # Minimum depth: 274.601274 meters looking forward 100.000000 meters along route # Maximum depth: 278.720310 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 224.601274 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797202; longitude = -121.855500; duration = 414; initialDepth = 228.141477; finalDepth = 224.601274; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 224.601274 # Seafloor depth: -274.601274 # 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 74 # Segment length 100.513536 meters # Minimum depth: 278.141477 meters looking forward 100.000000 meters along route # Maximum depth: 281.537183 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 228.141477 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798008; longitude = -121.856088; duration = 402; initialDepth = 232.873802; finalDepth = 228.141477; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50.312134 # Actual altitude: 50.312134 # Commanded vehicle depth: 228.141477 # Seafloor depth: -278.453611 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 73 # Segment length 102.612532 meters # Minimum depth: 282.873802 meters looking forward 100.000000 meters along route # Maximum depth: 306.837898 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 232.873802 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798789; longitude = -121.856658; duration = 410; # abortOnTimeout = True; initialDepth = 258.161468; finalDepth = 232.873802; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.312134 # Actual altitude: 50.312134 # Commanded vehicle depth: 232.873802 # Seafloor depth: -282.873802 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 102.618035 meters # Minimum depth: 308.161468 meters looking forward 100.000000 meters along route # Maximum depth: 313.978782 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 258.161468 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799404; longitude = -121.857516; duration = 410; initialDepth = 260.815384; finalDepth = 258.161468; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 258.161468 # Seafloor depth: -308.161468 # 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 to get to end of line 72 # Segment length 107.459528 meters # Minimum depth: 310.815384 meters looking forward 100.000000 meters along route # Maximum depth: 321.150206 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 260.815384 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800020; longitude = -121.858375; duration = 429; # abortOnTimeout = True; initialDepth = 271.899498; finalDepth = 260.815384; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 260.815384 # Seafloor depth: -310.815384 # 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 to get to end of line 71 # Segment length 154.508387 meters # Minimum depth: 321.899498 meters looking forward 100.000000 meters along route # Maximum depth: 342.079491 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 271.899498 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800141; longitude = -121.859570; duration = 618; # abortOnTimeout = True; initialDepth = 292.659587; finalDepth = 271.899498; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 271.899498 # Seafloor depth: -321.899498 # 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 71 # Segment length 100.434165 meters # Minimum depth: 342.659587 meters looking forward 100.000000 meters along route # Maximum depth: 350.084292 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 292.659587 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798885; longitude = -121.860317; duration = 401; initialDepth = 299.492523; finalDepth = 292.659587; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 292.659587 # Seafloor depth: -342.659587 # 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 to get to end of line 70 # Segment length 174.975092 meters # Minimum depth: 349.492523 meters looking forward 100.000000 meters along route # Maximum depth: 368.312949 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 299.492523 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798068; longitude = -121.860803; duration = 699; # abortOnTimeout = True; initialDepth = 318.008717; finalDepth = 299.492523; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 299.492523 # Seafloor depth: -349.492523 # 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 70 # Segment length 105.007095 meters # Minimum depth: 368.008717 meters looking forward 100.000000 meters along route # Maximum depth: 371.907542 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 318.008717 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796892; longitude = -121.862110; duration = 420; initialDepth = 318.703335; finalDepth = 318.008717; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.508896 # Actual altitude: 50.508896 # Commanded vehicle depth: 318.008717 # Seafloor depth: -368.517613 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 70 # Segment length 100.025388 meters # Minimum depth: 368.703335 meters looking forward 100.000000 meters along route # Maximum depth: 371.982409 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 318.703335 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796186; longitude = -121.862894; duration = 400; initialDepth = 316.929807; finalDepth = 318.703335; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 53.279074 # Actual altitude: 53.279074 # Commanded vehicle depth: 318.703335 # Seafloor depth: -371.982409 # 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 to get to end of line 69 # Segment length 114.542914 meters # Minimum depth: 366.929807 meters looking forward 100.000000 meters along route # Maximum depth: 369.175531 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 316.929807 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795514; longitude = -121.863641; duration = 458; # abortOnTimeout = True; initialDepth = 318.443031; finalDepth = 316.929807; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.279074 # Actual altitude: 53.279074 # Commanded vehicle depth: 316.929807 # Seafloor depth: -367.589806 # 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 69 # Segment length 105.776825 meters # Minimum depth: 368.443031 meters looking forward 100.000000 meters along route # Maximum depth: 374.052138 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 318.443031 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795124; longitude = -121.864829; duration = 423; initialDepth = 324.113238; finalDepth = 318.443031; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.659999 # Actual altitude: 50.659999 # Commanded vehicle depth: 318.443031 # Seafloor depth: -368.788870 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 69 # Segment length 107.196606 meters # Minimum depth: 374.113238 meters looking forward 100.000000 meters along route # Maximum depth: 378.064935 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 324.113238 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794763; longitude = -121.865927; duration = 428; initialDepth = 327.479731; finalDepth = 324.113238; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.345839 # Actual altitude: 50.345839 # Commanded vehicle depth: 324.113238 # Seafloor depth: -374.113238 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 69 # Segment length 107.977591 meters # Minimum depth: 377.479731 meters looking forward 100.000000 meters along route # Maximum depth: 378.619956 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 327.479731 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794398; longitude = -121.867039; duration = 431; initialDepth = 327.194931; finalDepth = 327.479731; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.736937 # Actual altitude: 50.736937 # Commanded vehicle depth: 327.479731 # Seafloor depth: -378.216668 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 69 # Segment length 107.978005 meters # Minimum depth: 377.194931 meters looking forward 100.000000 meters along route # Maximum depth: 378.407271 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 327.194931 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794030; longitude = -121.868159; duration = 431; initialDepth = 324.618250; finalDepth = 327.194931; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.127699 # Actual altitude: 51.127699 # Commanded vehicle depth: 327.194931 # Seafloor depth: -378.322630 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 69 # Segment length 107.978420 meters # Minimum depth: 374.618250 meters looking forward 100.000000 meters along route # Maximum depth: 376.926440 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 324.618250 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793662; longitude = -121.869280; duration = 431; initialDepth = 321.182356; finalDepth = 324.618250; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.30819 # Actual altitude: 52.30819 # Commanded vehicle depth: 324.61825 # Seafloor depth: -376.926440 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 69 # Segment length 107.978835 meters # Minimum depth: 371.182356 meters looking forward 100.000000 meters along route # Maximum depth: 373.942223 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 321.182356 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793294; longitude = -121.870400; duration = 431; initialDepth = 321.707791; finalDepth = 321.182356; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.759867 # Actual altitude: 52.759867 # Commanded vehicle depth: 321.182356 # Seafloor depth: -373.942223 # 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 69 # Segment length 107.979250 meters # Minimum depth: 371.707791 meters looking forward 100.000000 meters along route # Maximum depth: 372.809673 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 321.707791 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792926; longitude = -121.871520; duration = 431; initialDepth = 321.313603; finalDepth = 321.707791; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.759867 # Actual altitude: 52.759867 # Commanded vehicle depth: 321.707791 # Seafloor depth: -372.809673 # 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 69 # Segment length 107.979665 meters # Minimum depth: 371.313603 meters looking forward 100.000000 meters along route # Maximum depth: 373.955326 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 321.313603 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792558; longitude = -121.872641; duration = 431; initialDepth = 319.645699; finalDepth = 321.313603; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.101882 # Actual altitude: 51.101882 # Commanded vehicle depth: 321.313603 # Seafloor depth: -371.313603 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 69 # Segment length 107.980080 meters # Minimum depth: 369.645699 meters looking forward 100.000000 meters along route # Maximum depth: 372.811736 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 319.645699 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792190; longitude = -121.873761; duration = 431; initialDepth = 318.425516; finalDepth = 319.645699; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.166037 # Actual altitude: 53.166037 # Commanded vehicle depth: 319.645699 # Seafloor depth: -372.811736 # 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 69 # Segment length 107.980496 meters # Minimum depth: 368.425516 meters looking forward 100.000000 meters along route # Maximum depth: 378.980894 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 318.425516 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791822; longitude = -121.874881; duration = 431; initialDepth = 312.526401; finalDepth = 318.425516; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.166037 # Actual altitude: 53.166037 # Commanded vehicle depth: 318.425516 # Seafloor depth: -369.192242 # 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 69 # Segment length 104.415885 meters # Minimum depth: 362.526401 meters looking forward 100.000000 meters along route # Maximum depth: 382.449954 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 312.526401 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791454; longitude = -121.876002; duration = 417; initialDepth = 311.888313; finalDepth = 312.526401; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 67.71476 # Actual altitude: 67.71476 # Commanded vehicle depth: 312.526401 # Seafloor depth: -380.241161 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.63; 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 68 # Segment length 111.286716 meters # Minimum depth: 361.888313 meters looking forward 100.000000 meters along route # Maximum depth: 386.015922 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 311.888313 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791098; longitude = -121.877085; duration = 445; # abortOnTimeout = True; initialDepth = 337.794632; finalDepth = 311.888313; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.71476 # Actual altitude: 67.71476 # Commanded vehicle depth: 311.888313 # Seafloor depth: -361.888313 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 102.563723 meters # Minimum depth: 387.794632 meters looking forward 100.000000 meters along route # Maximum depth: 402.919422 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 337.794632 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791645; longitude = -121.878130; duration = 410; initialDepth = 353.981502; finalDepth = 337.794632; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 337.794632 # Seafloor depth: -387.794632 # 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 68 # Segment length 100.204695 meters # Minimum depth: 403.981502 meters looking forward 100.000000 meters along route # Maximum depth: 412.960197 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 353.981502 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792150; longitude = -121.879094; duration = 400; initialDepth = 360.108791; finalDepth = 353.981502; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 353.981502 # Seafloor depth: -403.981502 # 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 68 # Segment length 101.407744 meters # Minimum depth: 410.108791 meters looking forward 100.000000 meters along route # Maximum depth: 412.635523 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 360.108791 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792642; longitude = -121.880035; duration = 405; initialDepth = 356.980131; finalDepth = 360.108791; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.854539 # Actual altitude: 51.854539 # Commanded vehicle depth: 360.108791 # Seafloor depth: -411.963330 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 68 # Segment length 101.358753 meters # Minimum depth: 406.980131 meters looking forward 100.000000 meters along route # Maximum depth: 413.916385 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 356.980131 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793141; longitude = -121.880987; duration = 405; initialDepth = 352.499710; finalDepth = 356.980131; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.365751 # Actual altitude: 56.365751 # Commanded vehicle depth: 356.980131 # Seafloor depth: -413.345882 # 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 68 # Segment length 107.346192 meters # Minimum depth: 402.499710 meters looking forward 100.000000 meters along route # Maximum depth: 407.535785 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 352.499710 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793639; longitude = -121.881939; duration = 429; initialDepth = 354.114305; finalDepth = 352.499710; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.365751 # Actual altitude: 56.365751 # Commanded vehicle depth: 352.49971 # Seafloor depth: -407.535785 # 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 68 # Segment length 102.874181 meters # Minimum depth: 404.114305 meters looking forward 100.000000 meters along route # Maximum depth: 410.222548 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 354.114305 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794167; longitude = -121.882948; duration = 411; initialDepth = 345.961259; finalDepth = 354.114305; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.036075 # Actual altitude: 55.036075 # Commanded vehicle depth: 354.114305 # Seafloor depth: -405.748977 # 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 during line 68 # Segment length 103.917832 meters # Minimum depth: 395.961259 meters looking forward 100.000000 meters along route # Maximum depth: 404.066193 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 345.961259 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794673; longitude = -121.883914; duration = 415; initialDepth = 324.177829; finalDepth = 345.961259; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 57.010501 # Actual altitude: 57.010501 # Commanded vehicle depth: 345.961259 # Seafloor depth: -402.971760 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.21; 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 67 # Segment length 77.303291 meters # Minimum depth: 374.177829 meters looking forward 100.000000 meters along route # Maximum depth: 397.678430 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 324.177829 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795184; longitude = -121.884890; duration = 309; # abortOnTimeout = True; initialDepth = 322.678676; finalDepth = 324.177829; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.414479 # Actual altitude: 69.414479 # Commanded vehicle depth: 324.177829 # Seafloor depth: -393.592308 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 100.888662 meters # Minimum depth: 372.678676 meters looking forward 100.000000 meters along route # Maximum depth: 383.574638 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 322.678676 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795090; longitude = -121.885748; duration = 403; initialDepth = 335.569223; finalDepth = 322.678676; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.414479 # Actual altitude: 69.414479 # Commanded vehicle depth: 322.678676 # Seafloor depth: -373.051781 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 67 # Segment length 100.888795 meters # Minimum depth: 385.569223 meters looking forward 100.000000 meters along route # Maximum depth: 396.200342 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 335.569223 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794967; longitude = -121.886869; duration = 403; initialDepth = 346.503989; finalDepth = 335.569223; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.373105 # Actual altitude: 50.373105 # Commanded vehicle depth: 335.569223 # Seafloor depth: -385.569223 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 67 # Segment length 100.888929 meters # Minimum depth: 396.503989 meters looking forward 100.000000 meters along route # Maximum depth: 399.748983 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 346.503989 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794844; longitude = -121.887989; duration = 403; initialDepth = 350.591693; finalDepth = 346.503989; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 346.503989 # Seafloor depth: -396.503989 # 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 67 # Segment length 100.889063 meters # Minimum depth: 400.591693 meters looking forward 100.000000 meters along route # Maximum depth: 405.004798 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 350.591693 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794720; longitude = -121.889109; duration = 403; initialDepth = 356.853376; finalDepth = 350.591693; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 350.591693 # Seafloor depth: -400.591693 # 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 67 # Segment length 100.889197 meters # Minimum depth: 406.853376 meters looking forward 100.000000 meters along route # Maximum depth: 422.266821 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 356.853376 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794597; longitude = -121.890230; duration = 403; initialDepth = 375.137142; finalDepth = 356.853376; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 356.853376 # Seafloor depth: -406.853376 # 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 67 # Segment length 107.616132 meters # Minimum depth: 425.137142 meters looking forward 100.000000 meters along route # Maximum depth: 443.530077 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 375.137142 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794474; longitude = -121.891350; duration = 430; initialDepth = 394.085106; finalDepth = 375.137142; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 375.137142 # Seafloor depth: -425.137142 # 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 to get to end of line 66 # Segment length 153.334840 meters # Minimum depth: 444.085106 meters looking forward 100.000000 meters along route # Maximum depth: 451.332829 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 394.085106 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794343; longitude = -121.892545; duration = 613; # abortOnTimeout = True; initialDepth = 392.145235; finalDepth = 394.085106; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 394.085106 # Seafloor depth: -444.085106 # 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 66 # Segment length 100.672455 meters # Minimum depth: 442.145235 meters looking forward 100.000000 meters along route # Maximum depth: 446.288164 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 392.145235 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795304; longitude = -121.893780; duration = 402; initialDepth = 396.929715; finalDepth = 392.145235; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.142929 # Actual altitude: 54.142929 # Commanded vehicle depth: 392.145235 # Seafloor depth: -446.288164 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 66 # Segment length 100.672015 meters # Minimum depth: 446.929715 meters looking forward 100.000000 meters along route # Maximum depth: 450.038500 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 396.929715 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795935; longitude = -121.894591; duration = 402; initialDepth = 399.005678; finalDepth = 396.929715; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.142929 # Actual altitude: 54.142929 # Commanded vehicle depth: 396.929715 # Seafloor depth: -448.066607 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 66 # Segment length 108.873241 meters # Minimum depth: 449.005678 meters looking forward 100.000000 meters along route # Maximum depth: 465.439472 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 399.005678 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796566; longitude = -121.895402; duration = 435; initialDepth = 416.492703; finalDepth = 399.005678; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.136892 # Actual altitude: 51.136892 # Commanded vehicle depth: 399.005678 # Seafloor depth: -449.005678 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 66 # Segment length 101.988220 meters # Minimum depth: 466.492703 meters looking forward 100.000000 meters along route # Maximum depth: 476.655511 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 416.492703 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797248; longitude = -121.896279; duration = 407; initialDepth = 393.774960; finalDepth = 416.492703; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 416.492703 # Seafloor depth: -466.492703 # 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 to get to end of line 65 # Segment length 127.717494 meters # Minimum depth: 443.774960 meters looking forward 100.000000 meters along route # Maximum depth: 467.741127 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.774960 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797887; longitude = -121.897101; duration = 510; # abortOnTimeout = True; initialDepth = 389.423031; finalDepth = 393.774960; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 73.966167 # Actual altitude: 73.966167 # Commanded vehicle depth: 393.77496 # Seafloor depth: -467.741127 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.38; 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 64 # Segment length 115.244544 meters # Minimum depth: 439.423031 meters looking forward 100.000000 meters along route # Maximum depth: 449.125042 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 389.423031 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797587; longitude = -121.898483; duration = 460; # abortOnTimeout = True; initialDepth = 397.494513; finalDepth = 389.423031; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.966167 # Actual altitude: 73.966167 # Commanded vehicle depth: 389.423031 # Seafloor depth: -443.503082 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 100.404181 meters # Minimum depth: 447.494513 meters looking forward 100.000000 meters along route # Maximum depth: 451.887343 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 397.494513 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797126; longitude = -121.899640; duration = 401; initialDepth = 398.676302; finalDepth = 397.494513; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.08245 # Actual altitude: 54.08245 # Commanded vehicle depth: 397.494513 # Seafloor depth: -451.576963 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 64 # Segment length 100.404579 meters # Minimum depth: 448.676302 meters looking forward 100.000000 meters along route # Maximum depth: 453.526972 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 398.676302 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796724; longitude = -121.900649; duration = 401; initialDepth = 380.918836; finalDepth = 398.676302; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.08245 # Actual altitude: 54.08245 # Commanded vehicle depth: 398.676302 # Seafloor depth: -452.191243 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 64 # Segment length 104.172151 meters # Minimum depth: 430.918836 meters looking forward 100.000000 meters along route # Maximum depth: 447.444718 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 380.918836 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796322; longitude = -121.901657; duration = 416; initialDepth = 384.934776; finalDepth = 380.918836; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 66.525882 # Actual altitude: 66.525882 # Commanded vehicle depth: 380.918836 # Seafloor depth: -447.444718 # 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 to get to end of line 63 # Segment length 98.453999 meters # Minimum depth: 434.934776 meters looking forward 100.000000 meters along route # Maximum depth: 455.260695 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 384.934776 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795905; longitude = -121.902703; duration = 393; # abortOnTimeout = True; initialDepth = 407.556091; finalDepth = 384.934776; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 66.525882 # Actual altitude: 66.525882 # Commanded vehicle depth: 384.934776 # Seafloor depth: -434.934776 # 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 to get to end of line 62 # Segment length 127.860030 meters # Minimum depth: 457.556091 meters looking forward 100.000000 meters along route # Maximum depth: 480.844309 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 407.556091 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795094; longitude = -121.903151; duration = 511; # abortOnTimeout = True; initialDepth = 433.715777; finalDepth = 407.556091; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 407.556091 # Seafloor depth: -457.556091 # 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 62 # Segment length 100.905469 meters # Minimum depth: 483.715777 meters looking forward 100.000000 meters along route # Maximum depth: 492.611041 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 433.715777 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793952; longitude = -121.902958; duration = 403; initialDepth = 426.939211; finalDepth = 433.715777; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 433.715777 # Seafloor depth: -483.715777 # 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 62 # Segment length 100.905480 meters # Minimum depth: 476.939211 meters looking forward 100.000000 meters along route # Maximum depth: 487.167869 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 426.939211 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793051; longitude = -121.902806; duration = 403; initialDepth = 433.674161; finalDepth = 426.939211; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.228658 # Actual altitude: 60.228658 # Commanded vehicle depth: 426.939211 # Seafloor depth: -487.167869 # 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 62 # Segment length 100.905489 meters # Minimum depth: 483.674161 meters looking forward 100.000000 meters along route # Maximum depth: 493.373039 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 433.674161 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792150; longitude = -121.902653; duration = 403; initialDepth = 441.337834; finalDepth = 433.674161; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.228658 # Actual altitude: 60.228658 # Commanded vehicle depth: 433.674161 # Seafloor depth: -483.674161 # 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 62 # Segment length 100.905500 meters # Minimum depth: 491.337834 meters looking forward 100.000000 meters along route # Maximum depth: 494.551775 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 441.337834 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791248; longitude = -121.902501; duration = 403; initialDepth = 442.000893; finalDepth = 441.337834; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.897473 # Actual altitude: 51.897473 # Commanded vehicle depth: 441.337834 # Seafloor depth: -493.235307 # 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 62 # Segment length 100.905509 meters # Minimum depth: 492.000893 meters looking forward 100.000000 meters along route # Maximum depth: 492.662069 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 442.000893 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790347; longitude = -121.902349; duration = 403; initialDepth = 442.654983; finalDepth = 442.000893; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.897473 # Actual altitude: 51.897473 # Commanded vehicle depth: 442.000893 # Seafloor depth: -492.000893 # 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 62 # Segment length 100.905520 meters # Minimum depth: 492.654983 meters looking forward 100.000000 meters along route # Maximum depth: 495.441814 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 442.654983 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789446; longitude = -121.902196; duration = 403; initialDepth = 442.757294; finalDepth = 442.654983; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 442.654983 # Seafloor depth: -492.654983 # 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 62 # Segment length 100.905529 meters # Minimum depth: 492.757294 meters looking forward 100.000000 meters along route # Maximum depth: 499.880896 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 442.757294 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788545; longitude = -121.902044; duration = 403; initialDepth = 446.060573; finalDepth = 442.757294; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.254538 # Actual altitude: 50.254538 # Commanded vehicle depth: 442.757294 # Seafloor depth: -493.011832 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 62 # Segment length 100.905540 meters # Minimum depth: 496.060573 meters looking forward 100.000000 meters along route # Maximum depth: 498.910429 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 446.060573 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787643; longitude = -121.901892; duration = 403; initialDepth = 445.494824; finalDepth = 446.060573; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.505884 # Actual altitude: 52.505884 # Commanded vehicle depth: 446.060573 # Seafloor depth: -498.566457 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 62 # Segment length 104.247035 meters # Minimum depth: 495.494824 meters looking forward 100.000000 meters along route # Maximum depth: 497.661760 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 445.494824 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786742; longitude = -121.901739; duration = 416; initialDepth = 447.045174; finalDepth = 445.494824; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.505884 # Actual altitude: 52.505884 # Commanded vehicle depth: 445.494824 # Seafloor depth: -495.494824 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 61 # Segment length 141.427720 meters # Minimum depth: 497.045174 meters looking forward 100.000000 meters along route # Maximum depth: 535.280410 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 447.045174 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.785811; longitude = -121.901582; duration = 565; # abortOnTimeout = True; initialDepth = 482.486644; finalDepth = 447.045174; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 447.045174 # Seafloor depth: -497.045174 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 60 # Segment length 124.460618 meters # Minimum depth: 532.486644 meters looking forward 100.000000 meters along route # Maximum depth: 535.622665 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 482.486644 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.785631; longitude = -121.903151; duration = 497; # abortOnTimeout = True; initialDepth = 479.846412; finalDepth = 482.486644; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.136021 # Actual altitude: 53.136021 # Commanded vehicle depth: 482.486644 # Seafloor depth: -535.622665 # 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 60 # Segment length 100.954418 meters # Minimum depth: 529.846412 meters looking forward 100.000000 meters along route # Maximum depth: 532.765526 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 479.846412 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786742; longitude = -121.903344; duration = 403; initialDepth = 477.387812; finalDepth = 479.846412; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.136021 # Actual altitude: 53.136021 # Commanded vehicle depth: 479.846412 # Seafloor depth: -532.689128 # 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 60 # Segment length 100.954406 meters # Minimum depth: 527.387812 meters looking forward 100.000000 meters along route # Maximum depth: 529.669640 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 477.387812 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787643; longitude = -121.903500; duration = 403; initialDepth = 472.366600; finalDepth = 477.387812; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.842716 # Actual altitude: 52.842716 # Commanded vehicle depth: 477.387812 # Seafloor depth: -529.669640 # 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 60 # Segment length 100.954395 meters # Minimum depth: 522.366600 meters looking forward 100.000000 meters along route # Maximum depth: 527.030195 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 472.366600 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788545; longitude = -121.903656; duration = 403; initialDepth = 472.058939; finalDepth = 472.366600; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.6635950000001 # Actual altitude: 54.6635950000001 # Commanded vehicle depth: 472.3666 # Seafloor depth: -527.030195 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 60 # Segment length 100.954384 meters # Minimum depth: 522.058939 meters looking forward 100.000000 meters along route # Maximum depth: 523.475545 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 472.058939 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789446; longitude = -121.903813; duration = 403; initialDepth = 472.665037; finalDepth = 472.058939; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.6635950000001 # Actual altitude: 54.6635950000001 # Commanded vehicle depth: 472.058939 # Seafloor depth: -522.146915 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 60 # Segment length 100.954373 meters # Minimum depth: 522.665037 meters looking forward 100.000000 meters along route # Maximum depth: 524.090118 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 472.665037 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790347; longitude = -121.903969; duration = 403; initialDepth = 467.819908; finalDepth = 472.665037; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.270037 # Actual altitude: 51.270037 # Commanded vehicle depth: 472.665037 # Seafloor depth: -523.935074 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 60 # Segment length 100.954361 meters # Minimum depth: 517.819908 meters looking forward 100.000000 meters along route # Maximum depth: 522.537849 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 467.819908 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791248; longitude = -121.904125; duration = 403; initialDepth = 463.964139; finalDepth = 467.819908; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.717941 # Actual altitude: 54.717941 # Commanded vehicle depth: 467.819908 # Seafloor depth: -522.537849 # 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 60 # Segment length 100.954351 meters # Minimum depth: 513.964139 meters looking forward 100.000000 meters along route # Maximum depth: 517.411037 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 463.964139 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792150; longitude = -121.904282; duration = 403; initialDepth = 458.674128; finalDepth = 463.964139; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.717941 # Actual altitude: 54.717941 # Commanded vehicle depth: 463.964139 # Seafloor depth: -517.411037 # 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 60 # Segment length 100.954339 meters # Minimum depth: 508.674128 meters looking forward 100.000000 meters along route # Maximum depth: 513.559801 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.674128 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793051; longitude = -121.904438; duration = 403; initialDepth = 450.021700; finalDepth = 458.674128; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.885673 # Actual altitude: 54.885673 # Commanded vehicle depth: 458.674128 # Seafloor depth: -513.559801 # 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 60 # Segment length 104.286361 meters # Minimum depth: 500.021700 meters looking forward 100.000000 meters along route # Maximum depth: 507.930079 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 450.021700 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793952; longitude = -121.904594; duration = 417; initialDepth = 434.910757; finalDepth = 450.021700; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 57.908379 # Actual altitude: 57.908379 # Commanded vehicle depth: 450.0217 # Seafloor depth: -507.930079 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 59 # Segment length 145.217083 meters # Minimum depth: 484.910757 meters looking forward 100.000000 meters along route # Maximum depth: 499.109764 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 434.910757 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794883; longitude = -121.904756; duration = 580; # abortOnTimeout = True; initialDepth = 434.153083; finalDepth = 434.910757; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 64.199007 # Actual altitude: 64.199007 # Commanded vehicle depth: 434.910757 # Seafloor depth: -499.109764 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.52; 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 58 # Segment length 108.836049 meters # Minimum depth: 484.153083 meters looking forward 100.000000 meters along route # Maximum depth: 492.477613 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 434.153083 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796175; longitude = -121.904495; duration = 435; # abortOnTimeout = True; initialDepth = 440.285026; finalDepth = 434.153083; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.199007 # Actual altitude: 64.199007 # Commanded vehicle depth: 434.153083 # Seafloor depth: -488.742142 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 102.017582 meters # Minimum depth: 490.285026 meters looking forward 100.000000 meters along route # Maximum depth: 496.346047 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 440.285026 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796656; longitude = -121.903432; duration = 408; initialDepth = 441.304856; finalDepth = 440.285026; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.589059 # Actual altitude: 54.589059 # Commanded vehicle depth: 440.285026 # Seafloor depth: -490.285026 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 58 # Segment length 102.575632 meters # Minimum depth: 491.304856 meters looking forward 100.000000 meters along route # Maximum depth: 494.287218 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 441.304856 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797106; longitude = -121.902435; duration = 410; initialDepth = 436.248642; finalDepth = 441.304856; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.982362 # Actual altitude: 52.982362 # Commanded vehicle depth: 441.304856 # Seafloor depth: -494.287218 # 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 58 # Segment length 103.202013 meters # Minimum depth: 486.248642 meters looking forward 100.000000 meters along route # Maximum depth: 491.293882 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 436.248642 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797559; longitude = -121.901433; duration = 412; initialDepth = 421.929055; finalDepth = 436.248642; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.04524 # Actual altitude: 55.04524 # Commanded vehicle depth: 436.248642 # Seafloor depth: -491.293882 # 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 58 # Segment length 107.014855 meters # Minimum depth: 471.929055 meters looking forward 100.000000 meters along route # Maximum depth: 486.174717 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 421.929055 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798015; longitude = -121.900425; duration = 428; initialDepth = 417.309850; finalDepth = 421.929055; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 64.245662 # Actual altitude: 64.245662 # Commanded vehicle depth: 421.929055 # Seafloor depth: -486.174717 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 57 # Segment length 92.332107 meters # Minimum depth: 467.309850 meters looking forward 100.000000 meters along route # Maximum depth: 472.322172 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 417.309850 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798488; longitude = -121.899379; duration = 369; # abortOnTimeout = True; initialDepth = 417.607471; finalDepth = 417.309850; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.245662 # Actual altitude: 64.245662 # Commanded vehicle depth: 417.30985 # Seafloor depth: -471.562057 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 110.107778 meters # Minimum depth: 467.607471 meters looking forward 100.000000 meters along route # Maximum depth: 474.090291 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 417.607471 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798776; longitude = -121.898408; duration = 440; initialDepth = 424.219818; finalDepth = 417.607471; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 54.252207 # Actual altitude: 54.252207 # Commanded vehicle depth: 417.607471 # Seafloor depth: -467.607471 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 56 # Segment length 111.276067 meters # Minimum depth: 474.219818 meters looking forward 100.000000 meters along route # Maximum depth: 476.849074 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 424.219818 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799119; longitude = -121.897250; duration = 445; # abortOnTimeout = True; initialDepth = 417.370811; finalDepth = 424.219818; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.579262 # Actual altitude: 50.579262 # Commanded vehicle depth: 424.219818 # Seafloor depth: -474.799080 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 101.245964 meters # Minimum depth: 467.370811 meters looking forward 100.000000 meters along route # Maximum depth: 477.088736 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 417.370811 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798458; longitude = -121.896312; duration = 404; initialDepth = 398.625815; finalDepth = 417.370811; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 59.659479 # Actual altitude: 59.659479 # Commanded vehicle depth: 417.370811 # Seafloor depth: -477.030290 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.80; 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 55 # Segment length 106.679329 meters # Minimum depth: 448.625815 meters looking forward 100.000000 meters along route # Maximum depth: 466.939980 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 398.625815 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797857; longitude = -121.895458; duration = 426; # abortOnTimeout = True; initialDepth = 390.434332; finalDepth = 398.625815; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.314165 # Actual altitude: 68.314165 # Commanded vehicle depth: 398.625815 # Seafloor depth: -466.939980 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 101.890976 meters # Minimum depth: 440.434332 meters looking forward 100.000000 meters along route # Maximum depth: 448.291275 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 390.434332 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797196; longitude = -121.894589; duration = 407; initialDepth = 382.457094; finalDepth = 390.434332; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.314165 # Actual altitude: 68.314165 # Commanded vehicle depth: 390.434332 # Seafloor depth: -448.291275 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 103.216778 meters # Minimum depth: 432.457094 meters looking forward 100.000000 meters along route # Maximum depth: 443.571100 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 382.457094 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796566; longitude = -121.893759; duration = 412; initialDepth = 387.875121; finalDepth = 382.457094; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.067232 # Actual altitude: 61.067232 # Commanded vehicle depth: 382.457094 # Seafloor depth: -443.524326 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 105.391627 meters # Minimum depth: 437.875121 meters looking forward 100.000000 meters along route # Maximum depth: 448.519620 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 387.875121 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795927; longitude = -121.892918; duration = 421; initialDepth = 393.150206; finalDepth = 387.875121; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 61.067232 # Actual altitude: 61.067232 # Commanded vehicle depth: 387.875121 # Seafloor depth: -437.875121 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.64; 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 54 # Segment length 145.254573 meters # Minimum depth: 443.150206 meters looking forward 100.000000 meters along route # Maximum depth: 448.781731 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.150206 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795274; longitude = -121.892060; duration = 581; # abortOnTimeout = True; initialDepth = 375.345856; finalDepth = 393.150206; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.631525 # Actual altitude: 55.631525 # Commanded vehicle depth: 393.150206 # Seafloor depth: -448.781731 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 101.309968 meters # Minimum depth: 425.345856 meters looking forward 100.000000 meters along route # Maximum depth: 442.965695 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 375.345856 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795487; longitude = -121.890454; duration = 405; initialDepth = 355.435422; finalDepth = 375.345856; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.619839 # Actual altitude: 67.619839 # Commanded vehicle depth: 375.345856 # Seafloor depth: -442.965695 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 101.309801 meters # Minimum depth: 405.435422 meters looking forward 100.000000 meters along route # Maximum depth: 424.139329 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 355.435422 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795636; longitude = -121.889333; duration = 405; initialDepth = 354.654116; finalDepth = 355.435422; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.703907 # Actual altitude: 68.703907 # Commanded vehicle depth: 355.435422 # Seafloor depth: -424.139329 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 102.589190 meters # Minimum depth: 404.654116 meters looking forward 100.000000 meters along route # Maximum depth: 406.441522 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 354.654116 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795784; longitude = -121.888213; duration = 410; initialDepth = 343.620607; finalDepth = 354.654116; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.703907 # Actual altitude: 68.703907 # Commanded vehicle depth: 354.654116 # Seafloor depth: -404.654116 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 100.029916 meters # Minimum depth: 393.620607 meters looking forward 100.000000 meters along route # Maximum depth: 404.533559 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 343.620607 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795935; longitude = -121.887079; duration = 400; initialDepth = 343.822867; finalDepth = 343.620607; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.912952 # Actual altitude: 60.912952 # Commanded vehicle depth: 343.620607 # Seafloor depth: -404.533559 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 104.669745 meters # Minimum depth: 393.822867 meters looking forward 100.000000 meters along route # Maximum depth: 425.198021 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 343.822867 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796081; longitude = -121.885972; duration = 418; initialDepth = 375.198021; finalDepth = 343.822867; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 60.912952 # Actual altitude: 60.912952 # Commanded vehicle depth: 343.822867 # Seafloor depth: -393.822867 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.55; 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 53 # Segment length 90.914846 meters # Minimum depth: 425.198021 meters looking forward 100.000000 meters along route # Maximum depth: 426.135487 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 375.198021 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796235; longitude = -121.884815; duration = 363; # abortOnTimeout = True; initialDepth = 375.762768; finalDepth = 375.198021; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.738411 # Actual altitude: 50.738411 # Commanded vehicle depth: 375.198021 # Seafloor depth: -425.936432 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 101.191225 meters # Minimum depth: 425.762768 meters looking forward 100.000000 meters along route # Maximum depth: 427.392478 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 375.762768 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795794; longitude = -121.883956; duration = 404; initialDepth = 374.141368; finalDepth = 375.762768; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.738411 # Actual altitude: 50.738411 # Commanded vehicle depth: 375.762768 # Seafloor depth: -425.762768 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 100.361033 meters # Minimum depth: 424.141368 meters looking forward 100.000000 meters along route # Maximum depth: 425.752727 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 374.141368 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795304; longitude = -121.883000; duration = 401; initialDepth = 371.543030; finalDepth = 374.141368; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.594525 # Actual altitude: 51.594525 # Commanded vehicle depth: 374.141368 # Seafloor depth: -425.735893 # 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 53 # Segment length 106.704904 meters # Minimum depth: 421.543030 meters looking forward 100.000000 meters along route # Maximum depth: 424.294391 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 371.543030 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794817; longitude = -121.882051; duration = 426; initialDepth = 367.192302; finalDepth = 371.543030; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.751361 # Actual altitude: 52.751361 # Commanded vehicle depth: 371.54303 # Seafloor depth: -424.294391 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 109.036580 meters # Minimum depth: 417.192302 meters looking forward 100.000000 meters along route # Maximum depth: 421.427971 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 367.192302 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794300; longitude = -121.881043; duration = 436; initialDepth = 360.372403; finalDepth = 367.192302; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.235669 # Actual altitude: 54.235669 # Commanded vehicle depth: 367.192302 # Seafloor depth: -421.427971 # 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 53 # Segment length 104.374821 meters # Minimum depth: 410.372403 meters looking forward 100.000000 meters along route # Maximum depth: 417.009118 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 360.372403 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793772; longitude = -121.880013; duration = 417; initialDepth = 358.028855; finalDepth = 360.372403; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.636715 # Actual altitude: 56.636715 # Commanded vehicle depth: 360.372403 # Seafloor depth: -417.009118 # 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 53 # Segment length 100.164585 meters # Minimum depth: 408.028855 meters looking forward 100.000000 meters along route # Maximum depth: 409.547338 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 358.028855 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793266; longitude = -121.879027; duration = 400; initialDepth = 358.455323; finalDepth = 358.028855; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.636715 # Actual altitude: 56.636715 # Commanded vehicle depth: 358.028855 # Seafloor depth: -409.547338 # 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 53 # Segment length 105.306987 meters # Minimum depth: 408.455323 meters looking forward 100.000000 meters along route # Maximum depth: 410.072481 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 358.455323 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792780; longitude = -121.878080; duration = 421; initialDepth = 352.951073; finalDepth = 358.455323; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 51.518483 # Actual altitude: 51.518483 # Commanded vehicle depth: 358.455323 # Seafloor depth: -408.520229 # 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 to get to end of line 52 # Segment length 172.142603 meters # Minimum depth: 402.951073 meters looking forward 100.000000 meters along route # Maximum depth: 408.302238 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 352.951073 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792270; longitude = -121.877085; duration = 688; # abortOnTimeout = True; initialDepth = 348.935458; finalDepth = 352.951073; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.351165 # Actual altitude: 55.351165 # Commanded vehicle depth: 352.951073 # Seafloor depth: -408.302238 # 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 52 # Segment length 106.150197 meters # Minimum depth: 398.935458 meters looking forward 100.000000 meters along route # Maximum depth: 402.848467 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 348.935458 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792871; longitude = -121.875306; duration = 424; initialDepth = 344.176456; finalDepth = 348.935458; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.351165 # Actual altitude: 55.351165 # Commanded vehicle depth: 348.935458 # Seafloor depth: -402.848467 # 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 52 # Segment length 100.523810 meters # Minimum depth: 394.176456 meters looking forward 100.000000 meters along route # Maximum depth: 398.891534 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 344.176456 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793241; longitude = -121.874209; duration = 402; initialDepth = 338.172392; finalDepth = 344.176456; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.715078 # Actual altitude: 54.715078 # Commanded vehicle depth: 344.176456 # Seafloor depth: -398.891534 # 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 52 # Segment length 105.457815 meters # Minimum depth: 388.172392 meters looking forward 100.000000 meters along route # Maximum depth: 393.769387 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 338.172392 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793592; longitude = -121.873170; duration = 421; initialDepth = 337.564520; finalDepth = 338.172392; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.596995 # Actual altitude: 55.596995 # Commanded vehicle depth: 338.172392 # Seafloor depth: -393.769387 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 101.214647 meters # Minimum depth: 387.564520 meters looking forward 100.000000 meters along route # Maximum depth: 390.239107 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 337.564520 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793959; longitude = -121.872081; duration = 404; initialDepth = 339.667023; finalDepth = 337.564520; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.596995 # Actual altitude: 55.596995 # Commanded vehicle depth: 337.56452 # Seafloor depth: -388.123109 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 104.765443 meters # Minimum depth: 389.667023 meters looking forward 100.000000 meters along route # Maximum depth: 391.963290 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 339.667023 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794313; longitude = -121.871035; duration = 419; initialDepth = 338.120961; finalDepth = 339.667023; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.022587 # Actual altitude: 51.022587 # Commanded vehicle depth: 339.667023 # Seafloor depth: -390.689610 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 101.905473 meters # Minimum depth: 388.120961 meters looking forward 100.000000 meters along route # Maximum depth: 391.168637 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 338.120961 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794678; longitude = -121.869952; duration = 407; initialDepth = 334.993157; finalDepth = 338.120961; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.047676 # Actual altitude: 53.047676 # Commanded vehicle depth: 338.120961 # Seafloor depth: -391.168637 # 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 52 # Segment length 104.073082 meters # Minimum depth: 384.993157 meters looking forward 100.000000 meters along route # Maximum depth: 388.078285 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 334.993157 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795034; longitude = -121.868899; duration = 416; initialDepth = 330.226189; finalDepth = 334.993157; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.085128 # Actual altitude: 53.085128 # Commanded vehicle depth: 334.993157 # Seafloor depth: -388.078285 # 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 52 # Segment length 108.409149 meters # Minimum depth: 380.226189 meters looking forward 100.000000 meters along route # Maximum depth: 385.205172 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 330.226189 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795397; longitude = -121.867823; duration = 433; initialDepth = 326.069770; finalDepth = 330.226189; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.978983 # Actual altitude: 54.978983 # Commanded vehicle depth: 330.226189 # Seafloor depth: -385.205172 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 108.408724 meters # Minimum depth: 376.069770 meters looking forward 100.000000 meters along route # Maximum depth: 380.096398 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 326.069770 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795775; longitude = -121.866703; duration = 433; initialDepth = 320.125531; finalDepth = 326.069770; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.978983 # Actual altitude: 54.978983 # Commanded vehicle depth: 326.06977 # Seafloor depth: -380.096398 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 101.192284 meters # Minimum depth: 370.125531 meters looking forward 100.000000 meters along route # Maximum depth: 375.138322 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 320.125531 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796153; longitude = -121.865583; duration = 404; initialDepth = 308.275946; finalDepth = 320.125531; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 55.012791 # Actual altitude: 55.012791 # Commanded vehicle depth: 320.125531 # Seafloor depth: -375.138322 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 51 # Segment length 115.994766 meters # Minimum depth: 358.275946 meters looking forward 100.000000 meters along route # Maximum depth: 370.683029 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 308.275946 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796506; longitude = -121.864537; duration = 463; # abortOnTimeout = True; initialDepth = 308.108526; finalDepth = 308.275946; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.407083 # Actual altitude: 62.407083 # Commanded vehicle depth: 308.275946 # Seafloor depth: -370.683029 # 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 51 # Segment length 105.922103 meters # Minimum depth: 358.108526 meters looking forward 100.000000 meters along route # Maximum depth: 363.495928 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 308.108526 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797291; longitude = -121.863678; duration = 423; initialDepth = 313.498071; finalDepth = 308.108526; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.407083 # Actual altitude: 62.407083 # Commanded vehicle depth: 308.108526 # Seafloor depth: -358.236885 # 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 51 # Segment length 111.022667 meters # Minimum depth: 363.498071 meters looking forward 100.000000 meters along route # Maximum depth: 365.661199 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 313.498071 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798008; longitude = -121.862894; duration = 444; initialDepth = 312.493909; finalDepth = 313.498071; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50.128359 # Actual altitude: 50.128359 # Commanded vehicle depth: 313.498071 # Seafloor depth: -363.498071 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.08; 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 50 # Segment length 87.216153 meters # Minimum depth: 362.493909 meters looking forward 100.000000 meters along route # Maximum depth: 364.467096 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 312.493909 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798759; longitude = -121.862072; duration = 348; # abortOnTimeout = True; initialDepth = 306.503590; finalDepth = 312.493909; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7076520000001 # Actual altitude: 51.7076520000001 # Commanded vehicle depth: 312.493909 # Seafloor depth: -364.201561 # 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 50 # Segment length 102.438571 meters # Minimum depth: 356.503590 meters looking forward 100.000000 meters along route # Maximum depth: 361.659937 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 306.503590 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799450; longitude = -121.861605; duration = 409; initialDepth = 286.077460; finalDepth = 306.503590; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.156347 # Actual altitude: 55.156347 # Commanded vehicle depth: 306.50359 # Seafloor depth: -361.659937 # 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 50 # Segment length 110.039045 meters # Minimum depth: 336.077460 meters looking forward 100.000000 meters along route # Maximum depth: 355.339828 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 286.077460 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800261; longitude = -121.861056; duration = 440; initialDepth = 270.192722; finalDepth = 286.077460; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 69.262368 # Actual altitude: 69.262368 # Commanded vehicle depth: 286.07746 # Seafloor depth: -355.339828 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.56; 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 49 # Segment length 148.657238 meters # Minimum depth: 320.192722 meters looking forward 100.000000 meters along route # Maximum depth: 335.879982 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 270.192722 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.801132; longitude = -121.860467; duration = 594; # abortOnTimeout = True; initialDepth = 274.030670; finalDepth = 270.192722; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 69.262368 # Actual altitude: 69.262368 # Commanded vehicle depth: 270.192722 # Seafloor depth: -335.879982 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.56; 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 48 # Segment length 146.647414 meters # Minimum depth: 324.030670 meters looking forward 100.000000 meters along route # Maximum depth: 331.375476 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 274.030670 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.801583; longitude = -121.858898; duration = 586; # abortOnTimeout = True; initialDepth = 279.028630; finalDepth = 274.030670; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 65.68726 # Actual altitude: 65.68726 # Commanded vehicle depth: 274.03067 # Seafloor depth: -324.030670 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.41; 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 47 # Segment length 106.719868 meters # Minimum depth: 329.028630 meters looking forward 100.000000 meters along route # Maximum depth: 331.483910 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 279.028630 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.801102; longitude = -121.857367; duration = 426; # abortOnTimeout = True; initialDepth = 276.428439; finalDepth = 279.028630; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.45528 # Actual altitude: 52.45528 # Commanded vehicle depth: 279.02863 # Seafloor depth: -331.483910 # 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 47 # Segment length 106.670304 meters # Minimum depth: 326.428439 meters looking forward 100.000000 meters along route # Maximum depth: 329.284362 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 276.428439 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800351; longitude = -121.856620; duration = 426; initialDepth = 270.450582; finalDepth = 276.428439; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 52.855923 # Actual altitude: 52.855923 # Commanded vehicle depth: 276.428439 # Seafloor depth: -329.284362 # 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 to get to end of line 46 # Segment length 170.783726 meters # Minimum depth: 320.450582 meters looking forward 100.000000 meters along route # Maximum depth: 325.643044 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 270.450582 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799600; longitude = -121.855873; duration = 683; # abortOnTimeout = True; initialDepth = 270.168525; finalDepth = 270.450582; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.192462 # Actual altitude: 55.192462 # Commanded vehicle depth: 270.450582 # Seafloor depth: -325.643044 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 108.821210 meters # Minimum depth: 320.168525 meters looking forward 100.000000 meters along route # Maximum depth: 321.420919 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 270.168525 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798278; longitude = -121.854892; duration = 435; initialDepth = 259.991212; finalDepth = 270.168525; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.192462 # Actual altitude: 55.192462 # Commanded vehicle depth: 270.168525 # Seafloor depth: -320.629501 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 100.744767 meters # Minimum depth: 309.991212 meters looking forward 100.000000 meters along route # Maximum depth: 321.323328 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 259.991212 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797436; longitude = -121.854268; duration = 402; initialDepth = 235.225067; finalDepth = 259.991212; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.695648 # Actual altitude: 60.695648 # Commanded vehicle depth: 259.991212 # Seafloor depth: -320.686860 # 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 46 # Segment length 100.858716 meters # Minimum depth: 285.225067 meters looking forward 100.000000 meters along route # Maximum depth: 308.284315 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 235.225067 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796656; longitude = -121.853689; duration = 403; initialDepth = 236.644753; finalDepth = 235.225067; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 73.059248 # Actual altitude: 73.059248 # Commanded vehicle depth: 235.225067 # Seafloor depth: -308.284315 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.84; 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 45 # Segment length 125.513706 meters # Minimum depth: 286.644753 meters looking forward 100.000000 meters along route # Maximum depth: 306.316843 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 236.644753 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795875; longitude = -121.853110; duration = 502; # abortOnTimeout = True; initialDepth = 256.080091; finalDepth = 236.644753; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.059248 # Actual altitude: 73.059248 # Commanded vehicle depth: 236.644753 # Seafloor depth: -286.644753 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 107.575662 meters # Minimum depth: 306.080091 meters looking forward 100.000000 meters along route # Maximum depth: 308.541240 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 256.080091 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795457; longitude = -121.851803; duration = 430; initialDepth = 257.361955; finalDepth = 256.080091; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 256.080091 # Seafloor depth: -306.080091 # 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 45 # Segment length 107.576122 meters # Minimum depth: 307.361955 meters looking forward 100.000000 meters along route # Maximum depth: 309.466245 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 257.361955 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795099; longitude = -121.850683; duration = 430; initialDepth = 253.399495; finalDepth = 257.361955; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.388245 # Actual altitude: 50.388245 # Commanded vehicle depth: 257.361955 # Seafloor depth: -307.750200 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 107.576580 meters # Minimum depth: 303.399495 meters looking forward 100.000000 meters along route # Maximum depth: 307.562214 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 253.399495 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794740; longitude = -121.849562; duration = 430; initialDepth = 250.453960; finalDepth = 253.399495; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.96447 # Actual altitude: 53.96447 # Commanded vehicle depth: 253.399495 # Seafloor depth: -307.363965 # 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 45 # Segment length 107.577040 meters # Minimum depth: 300.453960 meters looking forward 100.000000 meters along route # Maximum depth: 303.793027 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 250.453960 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794382; longitude = -121.848442; duration = 430; initialDepth = 244.974291; finalDepth = 250.453960; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.96447 # Actual altitude: 53.96447 # Commanded vehicle depth: 250.45396 # Seafloor depth: -303.254728 # 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 45 # Segment length 107.577499 meters # Minimum depth: 294.974291 meters looking forward 100.000000 meters along route # Maximum depth: 300.630830 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 244.974291 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794024; longitude = -121.847322; duration = 430; initialDepth = 239.943534; finalDepth = 244.974291; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.656539 # Actual altitude: 55.656539 # Commanded vehicle depth: 244.974291 # Seafloor depth: -300.630830 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 107.577958 meters # Minimum depth: 289.943534 meters looking forward 100.000000 meters along route # Maximum depth: 294.608982 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 239.943534 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793665; longitude = -121.846201; duration = 430; initialDepth = 236.479917; finalDepth = 239.943534; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.656539 # Actual altitude: 55.656539 # Commanded vehicle depth: 239.943534 # Seafloor depth: -294.608982 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 103.977447 meters # Minimum depth: 286.479917 meters looking forward 100.000000 meters along route # Maximum depth: 289.651652 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 236.479917 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793307; longitude = -121.845081; duration = 415; initialDepth = 234.059819; finalDepth = 236.479917; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.665448 # Actual altitude: 54.665448 # Commanded vehicle depth: 236.479917 # Seafloor depth: -289.553316 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 100.421938 meters # Minimum depth: 284.059819 meters looking forward 100.000000 meters along route # Maximum depth: 286.466972 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 234.059819 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792961; longitude = -121.843998; duration = 401; initialDepth = 230.888313; finalDepth = 234.059819; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.073399 # Actual altitude: 53.073399 # Commanded vehicle depth: 234.059819 # Seafloor depth: -286.466972 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 107.579289 meters # Minimum depth: 280.888313 meters looking forward 100.000000 meters along route # Maximum depth: 283.479761 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 230.888313 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792626; longitude = -121.842952; duration = 430; initialDepth = 227.150979; finalDepth = 230.888313; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.591448 # Actual altitude: 52.591448 # Commanded vehicle depth: 230.888313 # Seafloor depth: -283.479761 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 107.579749 meters # Minimum depth: 277.150979 meters looking forward 100.000000 meters along route # Maximum depth: 280.569958 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 227.150979 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792268; longitude = -121.841832; duration = 430; initialDepth = 222.549464; finalDepth = 227.150979; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.418979 # Actual altitude: 53.418979 # Commanded vehicle depth: 227.150979 # Seafloor depth: -280.569958 # 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 45 # Segment length 107.580208 meters # Minimum depth: 272.549464 meters looking forward 100.000000 meters along route # Maximum depth: 277.312102 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 222.549464 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791910; longitude = -121.840712; duration = 430; initialDepth = 214.380075; finalDepth = 222.549464; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.762638 # Actual altitude: 54.762638 # Commanded vehicle depth: 222.549464 # Seafloor depth: -277.312102 # 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 45 # Segment length 107.580667 meters # Minimum depth: 264.380075 meters looking forward 100.000000 meters along route # Maximum depth: 271.760833 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 214.380075 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791551; longitude = -121.839591; duration = 430; initialDepth = 205.320322; finalDepth = 214.380075; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.380758 # Actual altitude: 57.380758 # Commanded vehicle depth: 214.380075 # Seafloor depth: -271.760833 # 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 45 # Segment length 107.581127 meters # Minimum depth: 255.320322 meters looking forward 100.000000 meters along route # Maximum depth: 263.198913 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 205.320322 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791193; longitude = -121.838471; duration = 430; initialDepth = 204.371058; finalDepth = 205.320322; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.878591 # Actual altitude: 57.878591 # Commanded vehicle depth: 205.320322 # Seafloor depth: -263.198913 # 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 45 # Segment length 107.581586 meters # Minimum depth: 254.371058 meters looking forward 100.000000 meters along route # Maximum depth: 254.906296 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 204.371058 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790835; longitude = -121.837351; duration = 430; initialDepth = 196.589288; finalDepth = 204.371058; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.878591 # Actual altitude: 57.878591 # Commanded vehicle depth: 204.371058 # Seafloor depth: -254.756661 # 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 45 # Segment length 107.582045 meters # Minimum depth: 246.589288 meters looking forward 100.000000 meters along route # Maximum depth: 255.112577 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 196.589288 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790476; longitude = -121.836230; duration = 430; initialDepth = 188.442128; finalDepth = 196.589288; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.523289 # Actual altitude: 58.523289 # Commanded vehicle depth: 196.589288 # Seafloor depth: -255.112577 # 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 45 # Segment length 107.582505 meters # Minimum depth: 238.442128 meters looking forward 100.000000 meters along route # Maximum depth: 245.803835 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 188.442128 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790118; longitude = -121.835110; duration = 430; initialDepth = 188.464211; finalDepth = 188.442128; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.523289 # Actual altitude: 58.523289 # Commanded vehicle depth: 188.442128 # Seafloor depth: -245.803835 # 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 45 # Segment length 107.582964 meters # Minimum depth: 238.464211 meters looking forward 100.000000 meters along route # Maximum depth: 245.417761 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 188.464211 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789760; longitude = -121.833990; duration = 430; initialDepth = 191.117578; finalDepth = 188.464211; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.361707 # Actual altitude: 57.361707 # Commanded vehicle depth: 188.464211 # Seafloor depth: -238.464211 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 103.956377 meters # Minimum depth: 241.117578 meters looking forward 100.000000 meters along route # Maximum depth: 244.795929 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 191.117578 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789401; longitude = -121.832870; duration = 415; initialDepth = 184.023209; finalDepth = 191.117578; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 53.678351 # Actual altitude: 53.678351 # Commanded vehicle depth: 191.117578 # Seafloor depth: -244.795929 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.21; 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 44 # Segment length 140.222325 meters # Minimum depth: 234.023209 meters looking forward 100.000000 meters along route # Maximum depth: 241.317211 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 184.023209 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789055; longitude = -121.831787; duration = 560; # abortOnTimeout = True; initialDepth = 182.799177; finalDepth = 184.023209; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.294002 # Actual altitude: 57.294002 # Commanded vehicle depth: 184.023209 # Seafloor depth: -241.317211 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 105.136357 meters # Minimum depth: 232.799177 meters looking forward 100.000000 meters along route # Maximum depth: 234.323460 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 182.799177 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789446; longitude = -121.830293; duration = 420; initialDepth = 180.612726; finalDepth = 182.799177; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.294002 # Actual altitude: 57.294002 # Commanded vehicle depth: 182.799177 # Seafloor depth: -234.323460 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 105.136022 meters # Minimum depth: 230.612726 meters looking forward 100.000000 meters along route # Maximum depth: 232.586047 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 180.612726 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789740; longitude = -121.829173; duration = 420; initialDepth = 176.896792; finalDepth = 180.612726; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.949018 # Actual altitude: 51.949018 # Commanded vehicle depth: 180.612726 # Seafloor depth: -232.561744 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 101.651753 meters # Minimum depth: 226.896792 meters looking forward 100.000000 meters along route # Maximum depth: 230.485886 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 176.896792 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790033; longitude = -121.828052; duration = 406; initialDepth = 175.579318; finalDepth = 176.896792; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 53.589094 # Actual altitude: 53.589094 # Commanded vehicle depth: 176.896792 # Seafloor depth: -230.485886 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 43 # Segment length 140.264081 meters # Minimum depth: 225.579318 meters looking forward 100.000000 meters along route # Maximum depth: 226.511164 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 175.579318 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790317; longitude = -121.826969; duration = 561; # abortOnTimeout = True; initialDepth = 173.674059; finalDepth = 175.579318; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.589094 # Actual altitude: 53.589094 # Commanded vehicle depth: 175.579318 # Seafloor depth: -226.316181 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 101.135120 meters # Minimum depth: 223.674059 meters looking forward 100.000000 meters along route # Maximum depth: 226.283868 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 173.674059 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791248; longitude = -121.825906; duration = 404; initialDepth = 166.351203; finalDepth = 173.674059; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.227195 # Actual altitude: 52.227195 # Commanded vehicle depth: 173.674059 # Seafloor depth: -225.901254 # 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 43 # Segment length 103.468541 meters # Minimum depth: 216.351203 meters looking forward 100.000000 meters along route # Maximum depth: 223.393794 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 166.351203 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791920; longitude = -121.825139; duration = 413; initialDepth = 160.365892; finalDepth = 166.351203; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.042591 # Actual altitude: 57.042591 # Commanded vehicle depth: 166.351203 # Seafloor depth: -223.393794 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 107.591718 meters # Minimum depth: 210.365892 meters looking forward 100.000000 meters along route # Maximum depth: 216.094639 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 160.365892 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792607; longitude = -121.824355; duration = 430; initialDepth = 161.325105; finalDepth = 160.365892; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.042591 # Actual altitude: 57.042591 # Commanded vehicle depth: 160.365892 # Seafloor depth: -216.094639 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 108.588848 meters # Minimum depth: 211.325105 meters looking forward 100.000000 meters along route # Maximum depth: 213.911652 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 161.325105 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793321; longitude = -121.823540; duration = 434; initialDepth = 157.795770; finalDepth = 161.325105; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.728747 # Actual altitude: 55.728747 # Commanded vehicle depth: 161.325105 # Seafloor depth: -211.325105 # 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 43 # Segment length 104.050535 meters # Minimum depth: 207.795770 meters looking forward 100.000000 meters along route # Maximum depth: 212.666012 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 157.795770 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794042; longitude = -121.822717; duration = 416; initialDepth = 152.816908; finalDepth = 157.795770; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 54.806216 # Actual altitude: 54.806216 # Commanded vehicle depth: 157.79577 # Seafloor depth: -212.601986 # 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 to get to end of line 42 # Segment length 174.542311 meters # Minimum depth: 202.816908 meters looking forward 100.000000 meters along route # Maximum depth: 207.278965 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 152.816908 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794733; longitude = -121.821928; duration = 698; # abortOnTimeout = True; initialDepth = 147.317172; finalDepth = 152.816908; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.806216 # Actual altitude: 54.806216 # Commanded vehicle depth: 152.816908 # Seafloor depth: -207.278965 # 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 42 # Segment length 100.691768 meters # Minimum depth: 197.317172 meters looking forward 100.000000 meters along route # Maximum depth: 202.256144 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 147.317172 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796295; longitude = -121.821697; duration = 402; initialDepth = 135.986138; finalDepth = 147.317172; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.938972 # Actual altitude: 54.938972 # Commanded vehicle depth: 147.317172 # Seafloor depth: -202.256144 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 100.691770 meters # Minimum depth: 185.986138 meters looking forward 100.000000 meters along route # Maximum depth: 196.663506 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 135.986138 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797196; longitude = -121.821564; duration = 402; initialDepth = 119.766525; finalDepth = 135.986138; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.677368 # Actual altitude: 60.677368 # Commanded vehicle depth: 135.986138 # Seafloor depth: -196.663506 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 104.047714 meters # Minimum depth: 169.766525 meters looking forward 100.000000 meters along route # Maximum depth: 184.914141 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 119.766525 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798098; longitude = -121.821431; duration = 416; initialDepth = 118.389439; finalDepth = 119.766525; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 65.147616 # Actual altitude: 65.147616 # Commanded vehicle depth: 119.766525 # Seafloor depth: -184.914141 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 41 # Segment length 115.106704 meters # Minimum depth: 168.389439 meters looking forward 100.000000 meters along route # Maximum depth: 193.722626 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 118.389439 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799029; longitude = -121.821293; duration = 460; # abortOnTimeout = True; initialDepth = 143.436413; finalDepth = 118.389439; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 65.147616 # Actual altitude: 65.147616 # Commanded vehicle depth: 118.389439 # Seafloor depth: -168.389439 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 40 # Segment length 107.215311 meters # Minimum depth: 193.436413 meters looking forward 100.000000 meters along route # Maximum depth: 199.854549 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 143.436413 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799420; longitude = -121.822488; duration = 428; # abortOnTimeout = True; initialDepth = 146.655500; finalDepth = 143.436413; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 143.436413 # Seafloor depth: -193.436413 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 100.466458 meters # Minimum depth: 196.655500 meters looking forward 100.000000 meters along route # Maximum depth: 200.185678 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 146.655500 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798458; longitude = -121.822605; duration = 401; initialDepth = 149.917298; finalDepth = 146.655500; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.530178 # Actual altitude: 53.530178 # Commanded vehicle depth: 146.6555 # Seafloor depth: -200.185678 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 100.466453 meters # Minimum depth: 199.917298 meters looking forward 100.000000 meters along route # Maximum depth: 202.667337 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 149.917298 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797557; longitude = -121.822715; duration = 401; initialDepth = 152.622877; finalDepth = 149.917298; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.530178 # Actual altitude: 53.530178 # Commanded vehicle depth: 149.917298 # Seafloor depth: -199.917298 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 100.466446 meters # Minimum depth: 202.622877 meters looking forward 100.000000 meters along route # Maximum depth: 205.658965 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 152.622877 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796656; longitude = -121.822825; duration = 401; initialDepth = 155.627950; finalDepth = 152.622877; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 152.622877 # Seafloor depth: -202.622877 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 103.839049 meters # Minimum depth: 205.627950 meters looking forward 100.000000 meters along route # Maximum depth: 208.559390 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 155.627950 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795754; longitude = -121.822935; duration = 415; initialDepth = 149.138387; finalDepth = 155.627950; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 155.62795 # Seafloor depth: -205.627950 # 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 to get to end of line 39 # Segment length 108.407311 meters # Minimum depth: 199.138387 meters looking forward 100.000000 meters along route # Maximum depth: 208.768745 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 149.138387 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794823; longitude = -121.823048; duration = 433; # abortOnTimeout = True; initialDepth = 136.339821; finalDepth = 149.138387; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.45259 # Actual altitude: 59.45259 # Commanded vehicle depth: 149.138387 # Seafloor depth: -208.590977 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 113.105776 meters # Minimum depth: 186.339821 meters looking forward 100.000000 meters along route # Maximum depth: 199.135484 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 136.339821 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794132; longitude = -121.823907; duration = 452; initialDepth = 132.694478; finalDepth = 136.339821; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.795663 # Actual altitude: 62.795663 # Commanded vehicle depth: 136.339821 # Seafloor depth: -199.135484 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 113.106277 meters # Minimum depth: 182.694478 meters looking forward 100.000000 meters along route # Maximum depth: 195.901862 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 132.694478 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793411; longitude = -121.824803; duration = 452; initialDepth = 145.906325; finalDepth = 132.694478; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.795663 # Actual altitude: 62.795663 # Commanded vehicle depth: 132.694478 # Seafloor depth: -186.335049 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 113.106776 meters # Minimum depth: 195.906325 meters looking forward 100.000000 meters along route # Maximum depth: 205.011630 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 145.906325 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792690; longitude = -121.825700; duration = 452; initialDepth = 154.541988; finalDepth = 145.906325; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.640571 # Actual altitude: 53.640571 # Commanded vehicle depth: 145.906325 # Seafloor depth: -195.906325 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 108.433690 meters # Minimum depth: 204.541988 meters looking forward 100.000000 meters along route # Maximum depth: 207.561710 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 154.541988 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791969; longitude = -121.826596; duration = 433; initialDepth = 151.969195; finalDepth = 154.541988; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50.47077 # Actual altitude: 50.47077 # Commanded vehicle depth: 154.541988 # Seafloor depth: -205.012758 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 38 # Segment length 151.615418 meters # Minimum depth: 201.969195 meters looking forward 100.000000 meters along route # Maximum depth: 212.799051 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 151.969195 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791278; longitude = -121.827455; duration = 606; # abortOnTimeout = True; initialDepth = 143.977493; finalDepth = 151.969195; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.675321 # Actual altitude: 56.675321 # Commanded vehicle depth: 151.969195 # Seafloor depth: -208.644516 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 102.752552 meters # Minimum depth: 193.977493 meters looking forward 100.000000 meters along route # Maximum depth: 200.764115 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 143.977493 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790831; longitude = -121.829060; duration = 411; initialDepth = 147.557253; finalDepth = 143.977493; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.786622 # Actual altitude: 56.786622 # Commanded vehicle depth: 143.977493 # Seafloor depth: -200.764115 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 101.753397 meters # Minimum depth: 197.557253 meters looking forward 100.000000 meters along route # Maximum depth: 231.264186 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 147.557253 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790527; longitude = -121.830149; duration = 407; initialDepth = 180.748876; finalDepth = 147.557253; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 56.786622 # Actual altitude: 56.786622 # Commanded vehicle depth: 147.557253 # Seafloor depth: -197.557253 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.07; 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 37 # Segment length 116.615613 meters # Minimum depth: 230.748876 meters looking forward 100.000000 meters along route # Maximum depth: 236.714718 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 180.748876 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790227; longitude = -121.831226; duration = 466; # abortOnTimeout = True; initialDepth = 186.873296; finalDepth = 180.748876; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.649878 # Actual altitude: 51.649878 # Commanded vehicle depth: 180.748876 # Seafloor depth: -232.398754 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 107.676700 meters # Minimum depth: 236.873296 meters looking forward 100.000000 meters along route # Maximum depth: 247.121971 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 186.873296 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790617; longitude = -121.832439; duration = 430; initialDepth = 197.345038; finalDepth = 186.873296; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.649878 # Actual altitude: 51.649878 # Commanded vehicle depth: 186.873296 # Seafloor depth: -236.873296 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 107.676239 meters # Minimum depth: 247.345038 meters looking forward 100.000000 meters along route # Maximum depth: 252.848036 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 197.345038 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790978; longitude = -121.833560; duration = 430; initialDepth = 202.704226; finalDepth = 197.345038; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 197.345038 # Seafloor depth: -247.345038 # 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 37 # Segment length 107.675777 meters # Minimum depth: 252.704226 meters looking forward 100.000000 meters along route # Maximum depth: 255.215413 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 202.704226 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791338; longitude = -121.834680; duration = 430; initialDepth = 205.329743; finalDepth = 202.704226; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 202.704226 # Seafloor depth: -252.704226 # 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 37 # Segment length 107.675316 meters # Minimum depth: 255.329743 meters looking forward 100.000000 meters along route # Maximum depth: 261.716315 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 205.329743 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791699; longitude = -121.835801; duration = 430; initialDepth = 211.761470; finalDepth = 205.329743; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 205.329743 # Seafloor depth: -255.329743 # 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 37 # Segment length 107.674854 meters # Minimum depth: 261.761470 meters looking forward 100.000000 meters along route # Maximum depth: 264.252139 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 211.761470 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792059; longitude = -121.836921; duration = 430; initialDepth = 207.507196; finalDepth = 211.761470; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 211.76147 # Seafloor depth: -261.761470 # 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 37 # Segment length 107.674392 meters # Minimum depth: 257.507196 meters looking forward 100.000000 meters along route # Maximum depth: 263.777508 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 207.507196 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792420; longitude = -121.838041; duration = 430; initialDepth = 208.891221; finalDepth = 207.507196; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.270312 # Actual altitude: 56.270312 # Commanded vehicle depth: 207.507196 # Seafloor depth: -263.777508 # 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 37 # Segment length 107.673930 meters # Minimum depth: 258.891221 meters looking forward 100.000000 meters along route # Maximum depth: 262.586634 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 208.891221 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792780; longitude = -121.839162; duration = 430; initialDepth = 212.886310; finalDepth = 208.891221; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.270312 # Actual altitude: 56.270312 # Commanded vehicle depth: 208.891221 # Seafloor depth: -259.060335 # 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 37 # Segment length 107.673469 meters # Minimum depth: 262.886310 meters looking forward 100.000000 meters along route # Maximum depth: 270.175570 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 212.886310 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793141; longitude = -121.840282; duration = 430; initialDepth = 219.666912; finalDepth = 212.886310; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.169114 # Actual altitude: 50.169114 # Commanded vehicle depth: 212.88631 # Seafloor depth: -262.886310 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 107.673008 meters # Minimum depth: 269.666912 meters looking forward 100.000000 meters along route # Maximum depth: 272.737980 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 219.666912 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793501; longitude = -121.841402; duration = 430; initialDepth = 219.185688; finalDepth = 219.666912; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.592989 # Actual altitude: 50.592989 # Commanded vehicle depth: 219.666912 # Seafloor depth: -270.259901 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 107.672546 meters # Minimum depth: 269.185688 meters looking forward 100.000000 meters along route # Maximum depth: 273.392898 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 219.185688 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793862; longitude = -121.842523; duration = 430; initialDepth = 219.608770; finalDepth = 219.185688; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.611131 # Actual altitude: 53.611131 # Commanded vehicle depth: 219.185688 # Seafloor depth: -272.796819 # 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 37 # Segment length 107.672084 meters # Minimum depth: 269.608770 meters looking forward 100.000000 meters along route # Maximum depth: 280.421535 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 219.608770 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794222; longitude = -121.843643; duration = 430; initialDepth = 229.789532; finalDepth = 219.608770; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.611131 # Actual altitude: 53.611131 # Commanded vehicle depth: 219.60877 # Seafloor depth: -269.608770 # 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 37 # Segment length 107.671623 meters # Minimum depth: 279.789532 meters looking forward 100.000000 meters along route # Maximum depth: 286.133235 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 229.789532 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794583; longitude = -121.844764; duration = 430; initialDepth = 235.762791; finalDepth = 229.789532; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.261773 # Actual altitude: 50.261773 # Commanded vehicle depth: 229.789532 # Seafloor depth: -280.051305 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 107.671162 meters # Minimum depth: 285.762791 meters looking forward 100.000000 meters along route # Maximum depth: 290.312216 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 235.762791 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794943; longitude = -121.845884; duration = 430; initialDepth = 240.316302; finalDepth = 235.762791; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.330757 # Actual altitude: 50.330757 # Commanded vehicle depth: 235.762791 # Seafloor depth: -286.093548 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 107.670700 meters # Minimum depth: 290.316302 meters looking forward 100.000000 meters along route # Maximum depth: 295.288688 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 240.316302 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795304; longitude = -121.847004; duration = 430; initialDepth = 245.424156; finalDepth = 240.316302; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.330757 # Actual altitude: 50.330757 # Commanded vehicle depth: 240.316302 # Seafloor depth: -290.316302 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 107.670238 meters # Minimum depth: 295.424156 meters looking forward 100.000000 meters along route # Maximum depth: 298.313234 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 245.424156 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795664; longitude = -121.848125; duration = 430; initialDepth = 248.259437; finalDepth = 245.424156; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 245.424156 # Seafloor depth: -295.424156 # 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 37 # Segment length 107.669778 meters # Minimum depth: 298.259437 meters looking forward 100.000000 meters along route # Maximum depth: 302.643580 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 248.259437 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796025; longitude = -121.849245; duration = 430; initialDepth = 252.718678; finalDepth = 248.259437; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.074569 # Actual altitude: 50.074569 # Commanded vehicle depth: 248.259437 # Seafloor depth: -298.334006 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 105.825639 meters # Minimum depth: 302.718678 meters looking forward 100.000000 meters along route # Maximum depth: 308.662966 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 252.718678 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796385; longitude = -121.850366; duration = 423; initialDepth = 259.178259; finalDepth = 252.718678; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.074569 # Actual altitude: 50.074569 # Commanded vehicle depth: 252.718678 # Seafloor depth: -302.718678 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 100.445986 meters # Minimum depth: 309.178259 meters looking forward 100.000000 meters along route # Maximum depth: 316.137236 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 259.178259 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796740; longitude = -121.851467; duration = 401; initialDepth = 260.052072; finalDepth = 259.178259; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 259.178259 # Seafloor depth: -309.178259 # 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 to get to end of line 36 # Segment length 126.321009 meters # Minimum depth: 310.052072 meters looking forward 100.000000 meters along route # Maximum depth: 316.394722 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 260.052072 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797076; longitude = -121.852512; duration = 505; # abortOnTimeout = True; initialDepth = 260.327223; finalDepth = 260.052072; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.34265 # Actual altitude: 56.34265 # Commanded vehicle depth: 260.052072 # Seafloor depth: -316.394722 # 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 36 # Segment length 101.313229 meters # Minimum depth: 310.327223 meters looking forward 100.000000 meters along route # Maximum depth: 317.096164 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 260.327223 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798043; longitude = -121.853259; duration = 405; initialDepth = 267.757787; finalDepth = 260.327223; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.34265 # Actual altitude: 56.34265 # Commanded vehicle depth: 260.327223 # Seafloor depth: -310.327223 # 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 36 # Segment length 107.003516 meters # Minimum depth: 317.757787 meters looking forward 100.000000 meters along route # Maximum depth: 325.513747 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 267.757787 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798819; longitude = -121.853859; duration = 428; initialDepth = 275.581349; finalDepth = 267.757787; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 267.757787 # Seafloor depth: -317.757787 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.980347 meters # Minimum depth: 325.581349 meters looking forward 100.000000 meters along route # Maximum depth: 330.395451 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 275.581349 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799638; longitude = -121.854492; duration = 403; initialDepth = 280.770950; finalDepth = 275.581349; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 275.581349 # Seafloor depth: -325.581349 # 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 to get to end of line 35 # Segment length 164.820922 meters # Minimum depth: 330.770950 meters looking forward 100.000000 meters along route # Maximum depth: 335.538803 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 280.770950 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800411; longitude = -121.855089; duration = 659; # abortOnTimeout = True; initialDepth = 285.558388; finalDepth = 280.770950; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 280.77095 # Seafloor depth: -330.770950 # 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 35 # Segment length 107.191219 meters # Minimum depth: 335.558388 meters looking forward 100.000000 meters along route # Maximum depth: 339.037064 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 285.558388 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.801613; longitude = -121.856175; duration = 428; initialDepth = 288.968808; finalDepth = 285.558388; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 285.558388 # Seafloor depth: -335.558388 # 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 to get to end of line 34 # Segment length 91.578543 meters # Minimum depth: 338.968808 meters looking forward 100.000000 meters along route # Maximum depth: 344.681343 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 288.968808 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.802394; longitude = -121.856882; duration = 366; # abortOnTimeout = True; initialDepth = 294.907306; finalDepth = 288.968808; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.124812 # Actual altitude: 50.124812 # Commanded vehicle depth: 288.968808 # Seafloor depth: -339.093620 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 104.729582 meters # Minimum depth: 344.907306 meters looking forward 100.000000 meters along route # Maximum depth: 346.725294 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 294.907306 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.802604; longitude = -121.857875; duration = 418; initialDepth = 296.188067; finalDepth = 294.907306; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50.124812 # Actual altitude: 50.124812 # Commanded vehicle depth: 294.907306 # Seafloor depth: -344.907306 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 33 # Segment length 133.283178 meters # Minimum depth: 346.188067 meters looking forward 100.000000 meters along route # Maximum depth: 346.839135 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 296.188067 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.802844; longitude = -121.859010; duration = 533; # abortOnTimeout = True; initialDepth = 296.869220; finalDepth = 296.188067; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.478841 # Actual altitude: 50.478841 # Commanded vehicle depth: 296.188067 # Seafloor depth: -346.666908 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 101.675209 meters # Minimum depth: 346.869220 meters looking forward 100.000000 meters along route # Maximum depth: 356.275778 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 296.869220 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.802469; longitude = -121.860429; duration = 406; initialDepth = 302.000973; finalDepth = 296.869220; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50.478841 # Actual altitude: 50.478841 # Commanded vehicle depth: 296.86922 # Seafloor depth: -346.869220 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 32 # Segment length 116.008997 meters # Minimum depth: 352.000973 meters looking forward 100.000000 meters along route # Maximum depth: 355.943319 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 302.000973 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.802183; longitude = -121.861512; duration = 464; # abortOnTimeout = True; initialDepth = 301.075357; finalDepth = 302.000973; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.682827 # Actual altitude: 53.682827 # Commanded vehicle depth: 302.000973 # Seafloor depth: -355.683800 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 101.078012 meters # Minimum depth: 351.075357 meters looking forward 100.000000 meters along route # Maximum depth: 354.584827 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 301.075357 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.801252; longitude = -121.862104; duration = 404; initialDepth = 303.713086; finalDepth = 301.075357; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.682827 # Actual altitude: 53.682827 # Commanded vehicle depth: 301.075357 # Seafloor depth: -351.311657 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 104.795677 meters # Minimum depth: 353.713086 meters looking forward 100.000000 meters along route # Maximum depth: 357.315787 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 303.713086 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800441; longitude = -121.862620; duration = 419; initialDepth = 284.198851; finalDepth = 303.713086; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50.2363 # Actual altitude: 50.2363 # Commanded vehicle depth: 303.713086 # Seafloor depth: -353.713086 # 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 to get to end of line 31 # Segment length 180.566471 meters # Minimum depth: 334.198851 meters looking forward 100.000000 meters along route # Maximum depth: 355.664932 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 284.198851 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799600; longitude = -121.863155; duration = 722; # abortOnTimeout = True; initialDepth = 283.188252; finalDepth = 284.198851; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.466081 # Actual altitude: 71.466081 # Commanded vehicle depth: 284.198851 # Seafloor depth: -355.664932 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 110.092076 meters # Minimum depth: 333.188252 meters looking forward 100.000000 meters along route # Maximum depth: 339.979404 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 283.188252 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798368; longitude = -121.864478; duration = 440; initialDepth = 290.682846; finalDepth = 283.188252; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 71.466081 # Actual altitude: 71.466081 # Commanded vehicle depth: 283.188252 # Seafloor depth: -334.096639 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.88; 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 30 # Segment length 118.393074 meters # Minimum depth: 340.682846 meters looking forward 100.000000 meters along route # Maximum depth: 346.750343 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 290.682846 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797617; longitude = -121.865284; duration = 473; # abortOnTimeout = True; initialDepth = 296.838699; finalDepth = 290.682846; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.908387 # Actual altitude: 50.908387 # Commanded vehicle depth: 290.682846 # Seafloor depth: -340.682846 # 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 30 # Segment length 101.494627 meters # Minimum depth: 346.838699 meters looking forward 100.000000 meters along route # Maximum depth: 362.580178 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 296.838699 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797196; longitude = -121.866504; duration = 405; initialDepth = 313.708034; finalDepth = 296.838699; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 296.838699 # Seafloor depth: -346.838699 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 102.760883 meters # Minimum depth: 363.708034 meters looking forward 100.000000 meters along route # Maximum depth: 380.677776 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 313.708034 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796836; longitude = -121.867549; duration = 411; initialDepth = 330.830362; finalDepth = 313.708034; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 313.708034 # Seafloor depth: -363.708034 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.229504 meters # Minimum depth: 380.830362 meters looking forward 100.000000 meters along route # Maximum depth: 385.172176 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 330.830362 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796471; longitude = -121.868608; duration = 400; initialDepth = 335.373640; finalDepth = 330.830362; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 330.830362 # Seafloor depth: -380.830362 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 101.495760 meters # Minimum depth: 385.373640 meters looking forward 100.000000 meters along route # Maximum depth: 388.683855 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 335.373640 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796115; longitude = -121.869640; duration = 405; initialDepth = 336.823312; finalDepth = 335.373640; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 335.37364 # Seafloor depth: -385.373640 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 102.801197 meters # Minimum depth: 386.823312 meters looking forward 100.000000 meters along route # Maximum depth: 388.614167 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 336.823312 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795754; longitude = -121.870686; duration = 411; initialDepth = 337.938322; finalDepth = 336.823312; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.703608 # Actual altitude: 50.703608 # Commanded vehicle depth: 336.823312 # Seafloor depth: -387.526920 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.191454 meters # Minimum depth: 387.938322 meters looking forward 100.000000 meters along route # Maximum depth: 391.880603 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 337.938322 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795389; longitude = -121.871744; duration = 400; initialDepth = 337.724158; finalDepth = 337.938322; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.703608 # Actual altitude: 50.703608 # Commanded vehicle depth: 337.938322 # Seafloor depth: -387.938322 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 101.496891 meters # Minimum depth: 387.724158 meters looking forward 100.000000 meters along route # Maximum depth: 392.428289 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 337.724158 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795034; longitude = -121.872777; duration = 405; initialDepth = 337.481899; finalDepth = 337.724158; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.635419 # Actual altitude: 54.635419 # Commanded vehicle depth: 337.724158 # Seafloor depth: -392.359577 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 102.841513 meters # Minimum depth: 387.481899 meters looking forward 100.000000 meters along route # Maximum depth: 397.910326 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 337.481899 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794673; longitude = -121.873822; duration = 411; initialDepth = 346.515318; finalDepth = 337.481899; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.635419 # Actual altitude: 54.635419 # Commanded vehicle depth: 337.481899 # Seafloor depth: -388.151873 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 108.761487 meters # Minimum depth: 396.515318 meters looking forward 100.000000 meters along route # Maximum depth: 399.593893 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 346.515318 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794308; longitude = -121.874881; duration = 435; initialDepth = 343.027037; finalDepth = 346.515318; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.385309 # Actual altitude: 51.385309 # Commanded vehicle depth: 346.515318 # Seafloor depth: -397.900627 # 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 30 # Segment length 101.482004 meters # Minimum depth: 393.027037 meters looking forward 100.000000 meters along route # Maximum depth: 397.754465 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 343.027037 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793921; longitude = -121.876002; duration = 405; initialDepth = 327.407977; finalDepth = 343.027037; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 53.066818 # Actual altitude: 53.066818 # Commanded vehicle depth: 343.027037 # Seafloor depth: -396.093855 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.84; 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 29 # Segment length 154.082326 meters # Minimum depth: 377.407977 meters looking forward 100.000000 meters along route # Maximum depth: 398.711006 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 327.407977 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793561; longitude = -121.877047; duration = 616; # abortOnTimeout = True; initialDepth = 329.836433; finalDepth = 327.407977; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.303029 # Actual altitude: 71.303029 # Commanded vehicle depth: 327.407977 # Seafloor depth: -398.711006 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 103.494445 meters # Minimum depth: 379.836433 meters looking forward 100.000000 meters along route # Maximum depth: 383.173857 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 329.836433 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794313; longitude = -121.878499; duration = 413; initialDepth = 334.612621; finalDepth = 329.836433; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.303029 # Actual altitude: 71.303029 # Commanded vehicle depth: 329.836433 # Seafloor depth: -380.515911 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 106.979304 meters # Minimum depth: 384.612621 meters looking forward 100.000000 meters along route # Maximum depth: 401.320056 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 334.612621 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794817; longitude = -121.879475; duration = 427; initialDepth = 349.915183; finalDepth = 334.612621; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.679478 # Actual altitude: 50.679478 # Commanded vehicle depth: 334.612621 # Seafloor depth: -384.612621 # 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 29 # Segment length 106.978769 meters # Minimum depth: 399.915183 meters looking forward 100.000000 meters along route # Maximum depth: 404.479108 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 349.915183 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795339; longitude = -121.880483; duration = 427; initialDepth = 354.631511; finalDepth = 349.915183; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.263603 # Actual altitude: 51.263603 # Commanded vehicle depth: 349.915183 # Seafloor depth: -401.178786 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 107.539878 meters # Minimum depth: 404.631511 meters looking forward 100.000000 meters along route # Maximum depth: 418.219093 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 354.631511 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795861; longitude = -121.881491; duration = 430; initialDepth = 368.313027; finalDepth = 354.631511; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.263603 # Actual altitude: 51.263603 # Commanded vehicle depth: 354.631511 # Seafloor depth: -404.631511 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 106.416057 meters # Minimum depth: 418.313027 meters looking forward 100.000000 meters along route # Maximum depth: 424.969074 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 368.313027 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796385; longitude = -121.882505; duration = 425; initialDepth = 376.102730; finalDepth = 368.313027; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 368.313027 # Seafloor depth: -418.313027 # 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 29 # Segment length 103.044483 meters # Minimum depth: 426.102730 meters looking forward 100.000000 meters along route # Maximum depth: 431.272548 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 376.102730 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796904; longitude = -121.883508; duration = 412; initialDepth = 381.113701; finalDepth = 376.102730; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 376.10273 # Seafloor depth: -426.102730 # 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 to get to end of line 28 # Segment length 124.714236 meters # Minimum depth: 431.113701 meters looking forward 100.000000 meters along route # Maximum depth: 431.781264 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 381.113701 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797407; longitude = -121.884479; duration = 498; # abortOnTimeout = True; initialDepth = 381.784372; finalDepth = 381.113701; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 381.113701 # Seafloor depth: -431.113701 # 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 28 # Segment length 101.140123 meters # Minimum depth: 431.784372 meters looking forward 100.000000 meters along route # Maximum depth: 432.538811 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 381.784372 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797236; longitude = -121.885860; duration = 404; initialDepth = 381.901418; finalDepth = 381.784372; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 381.784372 # Seafloor depth: -431.784372 # 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 28 # Segment length 101.140277 meters # Minimum depth: 431.901418 meters looking forward 100.000000 meters along route # Maximum depth: 435.668720 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 381.901418 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797097; longitude = -121.886981; duration = 404; initialDepth = 386.293216; finalDepth = 381.901418; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 381.901418 # Seafloor depth: -431.901418 # 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 28 # Segment length 101.140430 meters # Minimum depth: 436.293216 meters looking forward 100.000000 meters along route # Maximum depth: 440.170511 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 386.293216 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796958; longitude = -121.888101; duration = 404; initialDepth = 390.628953; finalDepth = 386.293216; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 386.293216 # Seafloor depth: -436.293216 # 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 28 # Segment length 101.140584 meters # Minimum depth: 440.628953 meters looking forward 100.000000 meters along route # Maximum depth: 444.051968 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 390.628953 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796819; longitude = -121.889221; duration = 404; initialDepth = 390.619647; finalDepth = 390.628953; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 390.628953 # Seafloor depth: -440.628953 # 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 28 # Segment length 104.479298 meters # Minimum depth: 440.619647 meters looking forward 100.000000 meters along route # Maximum depth: 443.979263 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 390.619647 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796680; longitude = -121.890342; duration = 417; initialDepth = 371.367296; finalDepth = 390.619647; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 53.290503 # Actual altitude: 53.290503 # Commanded vehicle depth: 390.619647 # Seafloor depth: -443.910150 # 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 to get to end of line 27 # Segment length 90.577941 meters # Minimum depth: 421.367296 meters looking forward 100.000000 meters along route # Maximum depth: 440.619647 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 371.367296 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796536; longitude = -121.891499; duration = 362; # abortOnTimeout = True; initialDepth = 370.584633; finalDepth = 371.367296; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.97325 # Actual altitude: 68.97325 # Commanded vehicle depth: 371.367296 # Seafloor depth: -440.340546 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.187405 meters # Minimum depth: 420.584633 meters looking forward 100.000000 meters along route # Maximum depth: 439.108429 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 370.584633 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797106; longitude = -121.892225; duration = 400; initialDepth = 386.628677; finalDepth = 370.584633; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.97325 # Actual altitude: 68.97325 # Commanded vehicle depth: 370.584633 # Seafloor depth: -421.338238 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.186972 meters # Minimum depth: 436.628677 meters looking forward 100.000000 meters along route # Maximum depth: 449.313797 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 386.628677 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797737; longitude = -121.893029; duration = 400; initialDepth = 399.338777; finalDepth = 386.628677; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.753605 # Actual altitude: 50.753605 # Commanded vehicle depth: 386.628677 # Seafloor depth: -436.628677 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 104.956677 meters # Minimum depth: 449.338777 meters looking forward 100.000000 meters along route # Maximum depth: 469.494222 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 399.338777 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798368; longitude = -121.893832; duration = 419; initialDepth = 418.522766; finalDepth = 399.338777; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50.347875 # Actual altitude: 50.347875 # Commanded vehicle depth: 399.338777 # Seafloor depth: -449.686652 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 167.715804 meters # Minimum depth: 468.522766 meters looking forward 100.000000 meters along route # Maximum depth: 482.262056 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 418.522766 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799029; longitude = -121.894674; duration = 670; # abortOnTimeout = True; initialDepth = 419.681526; finalDepth = 418.522766; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.347875 # Actual altitude: 50.347875 # Commanded vehicle depth: 418.522766 # Seafloor depth: -468.522766 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 101.402106 meters # Minimum depth: 469.681526 meters looking forward 100.000000 meters along route # Maximum depth: 481.022692 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 419.681526 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799815; longitude = -121.896279; duration = 405; initialDepth = 417.264542; finalDepth = 419.681526; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 61.341166 # Actual altitude: 61.341166 # Commanded vehicle depth: 419.681526 # Seafloor depth: -481.022692 # 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 to get to end of line 25 # Segment length 107.131030 meters # Minimum depth: 467.264542 meters looking forward 100.000000 meters along route # Maximum depth: 484.432977 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 417.264542 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800291; longitude = -121.897250; duration = 428; # abortOnTimeout = True; initialDepth = 434.815937; finalDepth = 417.264542; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.341166 # Actual altitude: 61.341166 # Commanded vehicle depth: 417.264542 # Seafloor depth: -467.264542 # 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 25 # Segment length 107.136422 meters # Minimum depth: 484.815937 meters looking forward 100.000000 meters along route # Maximum depth: 486.934425 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 434.815937 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800036; longitude = -121.898408; duration = 428; initialDepth = 433.296565; finalDepth = 434.815937; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 434.815937 # Seafloor depth: -484.815937 # 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 to get to end of line 24 # Segment length 123.727677 meters # Minimum depth: 483.296565 meters looking forward 100.000000 meters along route # Maximum depth: 486.252301 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 433.296565 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799780; longitude = -121.899566; duration = 494; # abortOnTimeout = True; initialDepth = 432.448084; finalDepth = 433.296565; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.809415 # Actual altitude: 52.809415 # Commanded vehicle depth: 433.296565 # Seafloor depth: -486.105980 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 105.960811 meters # Minimum depth: 482.448084 meters looking forward 100.000000 meters along route # Maximum depth: 489.520536 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 432.448084 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799214; longitude = -121.900761; duration = 423; initialDepth = 438.577696; finalDepth = 432.448084; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.809415 # Actual altitude: 52.809415 # Commanded vehicle depth: 432.448084 # Seafloor depth: -482.448084 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 102.895532 meters # Minimum depth: 488.577696 meters looking forward 100.000000 meters along route # Maximum depth: 490.589851 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 438.577696 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798729; longitude = -121.901784; duration = 411; initialDepth = 437.126077; finalDepth = 438.577696; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.895689 # Actual altitude: 50.895689 # Commanded vehicle depth: 438.577696 # Seafloor depth: -489.473385 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 104.428857 meters # Minimum depth: 487.126077 meters looking forward 100.000000 meters along route # Maximum depth: 488.921611 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 437.126077 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798258; longitude = -121.902777; duration = 417; initialDepth = 438.673842; finalDepth = 437.126077; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.795534 # Actual altitude: 51.795534 # Commanded vehicle depth: 437.126077 # Seafloor depth: -488.921611 # 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 24 # Segment length 107.691992 meters # Minimum depth: 488.673842 meters looking forward 100.000000 meters along route # Maximum depth: 497.536580 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 438.673842 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797780; longitude = -121.903785; duration = 430; initialDepth = 448.006281; finalDepth = 438.673842; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.795534 # Actual altitude: 51.795534 # Commanded vehicle depth: 438.673842 # Seafloor depth: -488.824397 # 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 24 # Segment length 104.993925 meters # Minimum depth: 498.006281 meters looking forward 100.000000 meters along route # Maximum depth: 504.808263 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 448.006281 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797287; longitude = -121.904825; duration = 419; initialDepth = 452.714551; finalDepth = 448.006281; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50.150555 # Actual altitude: 50.150555 # Commanded vehicle depth: 448.006281 # Seafloor depth: -498.006281 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 78.778636 meters # Minimum depth: 502.714551 meters looking forward 100.000000 meters along route # Maximum depth: 504.874895 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 452.714551 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796806; longitude = -121.905839; duration = 315; # abortOnTimeout = True; initialDepth = 453.778006; finalDepth = 452.714551; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.777339 # Actual altitude: 51.777339 # Commanded vehicle depth: 452.714551 # Seafloor depth: -504.491890 # 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 23 # Segment length 109.558190 meters # Minimum depth: 503.778006 meters looking forward 100.000000 meters along route # Maximum depth: 510.226430 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 453.778006 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796115; longitude = -121.906042; duration = 438; initialDepth = 449.973585; finalDepth = 453.778006; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 51.777339 # Actual altitude: 51.777339 # Commanded vehicle depth: 453.778006 # Seafloor depth: -503.778006 # 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 to get to end of line 22 # Segment length 154.752574 meters # Minimum depth: 499.973585 meters looking forward 100.000000 meters along route # Maximum depth: 507.753647 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 449.973585 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795154; longitude = -121.906325; duration = 619; # abortOnTimeout = True; initialDepth = 450.465301; finalDepth = 449.973585; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.780062 # Actual altitude: 57.780062 # Commanded vehicle depth: 449.973585 # Seafloor depth: -507.753647 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 100.901353 meters # Minimum depth: 500.465301 meters looking forward 100.000000 meters along route # Maximum depth: 509.277694 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 450.465301 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793772; longitude = -121.906092; duration = 403; initialDepth = 446.243198; finalDepth = 450.465301; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.780062 # Actual altitude: 57.780062 # Commanded vehicle depth: 450.465301 # Seafloor depth: -500.465301 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.901363 meters # Minimum depth: 496.243198 meters looking forward 100.000000 meters along route # Maximum depth: 509.115389 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 446.243198 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792871; longitude = -121.905940; duration = 403; initialDepth = 434.100290; finalDepth = 446.243198; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.872191 # Actual altitude: 62.872191 # Commanded vehicle depth: 446.243198 # Seafloor depth: -509.115389 # 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 22 # Segment length 100.901372 meters # Minimum depth: 484.100290 meters looking forward 100.000000 meters along route # Maximum depth: 495.023588 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 434.100290 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791969; longitude = -121.905788; duration = 403; initialDepth = 433.464537; finalDepth = 434.100290; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.872191 # Actual altitude: 62.872191 # Commanded vehicle depth: 434.10029 # Seafloor depth: -495.023588 # 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 22 # Segment length 100.901383 meters # Minimum depth: 483.464537 meters looking forward 100.000000 meters along route # Maximum depth: 485.108588 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 433.464537 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791068; longitude = -121.905636; duration = 403; initialDepth = 435.302099; finalDepth = 433.464537; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.923298 # Actual altitude: 60.923298 # Commanded vehicle depth: 433.464537 # Seafloor depth: -483.753537 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.901393 meters # Minimum depth: 485.302099 meters looking forward 100.000000 meters along route # Maximum depth: 488.867293 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 435.302099 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790167; longitude = -121.905484; duration = 403; initialDepth = 437.978020; finalDepth = 435.302099; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.289 # Actual altitude: 50.289 # Commanded vehicle depth: 435.302099 # Seafloor depth: -485.302099 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.901402 meters # Minimum depth: 487.978020 meters looking forward 100.000000 meters along route # Maximum depth: 490.583050 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 437.978020 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789266; longitude = -121.905332; duration = 403; initialDepth = 441.009876; finalDepth = 437.978020; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.259081 # Actual altitude: 50.259081 # Commanded vehicle depth: 437.97802 # Seafloor depth: -488.237101 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.901412 meters # Minimum depth: 491.009876 meters looking forward 100.000000 meters along route # Maximum depth: 500.170339 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 441.009876 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788364; longitude = -121.905180; duration = 403; initialDepth = 452.823230; finalDepth = 441.009876; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.259081 # Actual altitude: 50.259081 # Commanded vehicle depth: 441.009876 # Seafloor depth: -491.009876 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.901422 meters # Minimum depth: 502.823230 meters looking forward 100.000000 meters along route # Maximum depth: 512.711104 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 452.823230 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787463; longitude = -121.905028; duration = 403; initialDepth = 460.173101; finalDepth = 452.823230; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 452.82323 # Seafloor depth: -502.823230 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 104.214994 meters # Minimum depth: 510.173101 meters looking forward 100.000000 meters along route # Maximum depth: 520.688440 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 460.173101 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786562; longitude = -121.904876; duration = 416; initialDepth = 431.836934; finalDepth = 460.173101; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 460.173101 # Seafloor depth: -510.173101 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 143.940005 meters # Minimum depth: 481.836934 meters looking forward 100.000000 meters along route # Maximum depth: 521.929169 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 431.836934 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.785631; longitude = -121.904719; duration = 575; # abortOnTimeout = True; initialDepth = 415.873426; finalDepth = 431.836934; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 90.092235 # Actual altitude: 90.092235 # Commanded vehicle depth: 431.836934 # Seafloor depth: -521.929169 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 54.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 87.371868 meters # Minimum depth: 465.873426 meters looking forward 100.000000 meters along route # Maximum depth: 482.804399 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 415.873426 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.785510; longitude = -121.906325; duration = 349; # abortOnTimeout = True; initialDepth = 412.513344; finalDepth = 415.873426; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.092235 # Actual altitude: 90.092235 # Commanded vehicle depth: 415.873426 # Seafloor depth: -482.772545 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 54.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.763433 meters # Minimum depth: 462.513344 meters looking forward 100.000000 meters along route # Maximum depth: 466.092378 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 412.513344 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786291; longitude = -121.906446; duration = 403; initialDepth = 413.386343; finalDepth = 412.513344; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.899119 # Actual altitude: 66.899119 # Commanded vehicle depth: 412.513344 # Seafloor depth: -464.379757 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 100.763427 meters # Minimum depth: 463.386343 meters looking forward 100.000000 meters along route # Maximum depth: 464.766479 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 413.386343 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787193; longitude = -121.906586; duration = 403; initialDepth = 413.896635; finalDepth = 413.386343; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.866413 # Actual altitude: 51.866413 # Commanded vehicle depth: 413.386343 # Seafloor depth: -464.766479 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 100.763420 meters # Minimum depth: 463.896635 meters looking forward 100.000000 meters along route # Maximum depth: 468.202643 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 413.896635 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788094; longitude = -121.906726; duration = 403; initialDepth = 417.948774; finalDepth = 413.896635; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.380136 # Actual altitude: 51.380136 # Commanded vehicle depth: 413.896635 # Seafloor depth: -463.896635 # 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 20 # Segment length 100.763414 meters # Minimum depth: 467.948774 meters looking forward 100.000000 meters along route # Maximum depth: 469.956233 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 417.948774 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788995; longitude = -121.906866; duration = 403; initialDepth = 403.024827; finalDepth = 417.948774; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.972455 # Actual altitude: 50.972455 # Commanded vehicle depth: 417.948774 # Seafloor depth: -468.921229 # 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 20 # Segment length 100.763408 meters # Minimum depth: 453.024827 meters looking forward 100.000000 meters along route # Maximum depth: 466.538392 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 403.024827 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789896; longitude = -121.907007; duration = 403; initialDepth = 396.611527; finalDepth = 403.024827; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.513565 # Actual altitude: 63.513565 # Commanded vehicle depth: 403.024827 # Seafloor depth: -466.538392 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 100.763401 meters # Minimum depth: 446.611527 meters looking forward 100.000000 meters along route # Maximum depth: 453.017863 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 396.611527 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790798; longitude = -121.907147; duration = 403; initialDepth = 394.081874; finalDepth = 396.611527; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.513565 # Actual altitude: 63.513565 # Commanded vehicle depth: 396.611527 # Seafloor depth: -453.017863 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 100.763395 meters # Minimum depth: 444.081874 meters looking forward 100.000000 meters along route # Maximum depth: 448.540219 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 394.081874 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791699; longitude = -121.907287; duration = 403; initialDepth = 386.732209; finalDepth = 394.081874; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.406336 # Actual altitude: 56.406336 # Commanded vehicle depth: 394.081874 # Seafloor depth: -448.540219 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 100.763388 meters # Minimum depth: 436.732209 meters looking forward 100.000000 meters along route # Maximum depth: 446.894820 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 386.732209 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792600; longitude = -121.907427; duration = 403; initialDepth = 371.562705; finalDepth = 386.732209; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.27272 # Actual altitude: 55.27272 # Commanded vehicle depth: 386.732209 # Seafloor depth: -442.004929 # 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 20 # Segment length 100.763382 meters # Minimum depth: 421.562705 meters looking forward 100.000000 meters along route # Maximum depth: 448.492006 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 371.562705 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793501; longitude = -121.907567; duration = 403; initialDepth = 370.196496; finalDepth = 371.562705; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.929301 # Actual altitude: 76.929301 # Commanded vehicle depth: 371.562705 # Seafloor depth: -448.492006 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 107.485693 meters # Minimum depth: 420.196496 meters looking forward 100.000000 meters along route # Maximum depth: 442.385085 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 370.196496 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794403; longitude = -121.907707; duration = 429; initialDepth = 394.250214; finalDepth = 370.196496; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 76.929301 # Actual altitude: 76.929301 # Commanded vehicle depth: 370.196496 # Seafloor depth: -421.562055 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.16; 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 19 # Segment length 149.272915 meters # Minimum depth: 444.250214 meters looking forward 100.000000 meters along route # Maximum depth: 482.470826 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 394.250214 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795364; longitude = -121.907856; duration = 597; # abortOnTimeout = True; initialDepth = 407.894623; finalDepth = 394.250214; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.365559 # Actual altitude: 51.365559 # Commanded vehicle depth: 394.250214 # Seafloor depth: -444.250214 # 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 19 # Segment length 100.683087 meters # Minimum depth: 457.894623 meters looking forward 100.000000 meters along route # Maximum depth: 474.762293 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 407.894623 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796656; longitude = -121.907388; duration = 402; initialDepth = 404.264061; finalDepth = 407.894623; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 66.866837 # Actual altitude: 66.866837 # Commanded vehicle depth: 407.894623 # Seafloor depth: -474.761460 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 119.569689 meters # Minimum depth: 454.264061 meters looking forward 100.000000 meters along route # Maximum depth: 461.927826 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 404.264061 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797527; longitude = -121.907072; duration = 478; # abortOnTimeout = True; initialDepth = 409.030135; finalDepth = 404.264061; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.866837 # Actual altitude: 66.866837 # Commanded vehicle depth: 404.264061 # Seafloor depth: -454.264061 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 105.497707 meters # Minimum depth: 459.030135 meters looking forward 100.000000 meters along route # Maximum depth: 467.198889 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 409.030135 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798070; longitude = -121.905914; duration = 421; initialDepth = 406.754207; finalDepth = 409.030135; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.849906 # Actual altitude: 52.849906 # Commanded vehicle depth: 409.030135 # Seafloor depth: -461.880041 # 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 18 # Segment length 102.737111 meters # Minimum depth: 456.754207 meters looking forward 100.000000 meters along route # Maximum depth: 459.021489 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 406.754207 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798548; longitude = -121.904892; duration = 410; initialDepth = 397.593463; finalDepth = 406.754207; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.849906 # Actual altitude: 52.849906 # Commanded vehicle depth: 406.754207 # Seafloor depth: -458.989794 # 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 18 # Segment length 104.116730 meters # Minimum depth: 447.593463 meters looking forward 100.000000 meters along route # Maximum depth: 456.022999 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 397.593463 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799015; longitude = -121.903898; duration = 416; initialDepth = 379.130229; finalDepth = 397.593463; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.429536 # Actual altitude: 58.429536 # Commanded vehicle depth: 397.593463 # Seafloor depth: -456.022999 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 104.116278 meters # Minimum depth: 429.130229 meters looking forward 100.000000 meters along route # Maximum depth: 445.504080 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 379.130229 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799487; longitude = -121.902889; duration = 416; initialDepth = 336.578798; finalDepth = 379.130229; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.373851 # Actual altitude: 66.373851 # Commanded vehicle depth: 379.130229 # Seafloor depth: -445.504080 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 106.087168 meters # Minimum depth: 386.578798 meters looking forward 100.000000 meters along route # Maximum depth: 427.197408 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 336.578798 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799960; longitude = -121.901881; duration = 424; initialDepth = 336.491522; finalDepth = 336.578798; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.61861 # Actual altitude: 90.61861 # Commanded vehicle depth: 336.578798 # Seafloor depth: -427.197408 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 54.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 106.004084 meters # Minimum depth: 386.491522 meters looking forward 100.000000 meters along route # Maximum depth: 397.118716 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 336.491522 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800441; longitude = -121.900854; duration = 424; initialDepth = 347.792015; finalDepth = 336.491522; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 90.61861 # Actual altitude: 90.61861 # Commanded vehicle depth: 336.491522 # Seafloor depth: -386.491522 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 54.37; 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 17 # Segment length 115.056784 meters # Minimum depth: 397.792015 meters looking forward 100.000000 meters along route # Maximum depth: 410.000111 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 347.792015 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800922; longitude = -121.899827; duration = 460; # abortOnTimeout = True; initialDepth = 333.163643; finalDepth = 347.792015; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 347.792015 # Seafloor depth: -397.792015 # 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 17 # Segment length 100.727512 meters # Minimum depth: 383.163643 meters looking forward 100.000000 meters along route # Maximum depth: 404.706355 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 333.163643 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.801162; longitude = -121.898572; duration = 402; initialDepth = 329.312725; finalDepth = 333.163643; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 71.542712 # Actual altitude: 71.542712 # Commanded vehicle depth: 333.163643 # Seafloor depth: -404.706355 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 124.396040 meters # Minimum depth: 379.312725 meters looking forward 100.000000 meters along route # Maximum depth: 391.505089 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 329.312725 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.801372; longitude = -121.897474; duration = 497; # abortOnTimeout = True; initialDepth = 341.251769; finalDepth = 329.312725; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.542712 # Actual altitude: 71.542712 # Commanded vehicle depth: 329.312725 # Seafloor depth: -380.951988 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 106.656383 meters # Minimum depth: 391.251769 meters looking forward 100.000000 meters along route # Maximum depth: 398.061897 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 341.251769 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800981; longitude = -121.896167; duration = 426; initialDepth = 327.019770; finalDepth = 341.251769; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.639263 # Actual altitude: 51.639263 # Commanded vehicle depth: 341.251769 # Seafloor depth: -391.635411 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 103.106946 meters # Minimum depth: 377.019770 meters looking forward 100.000000 meters along route # Maximum depth: 387.564176 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 327.019770 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800645; longitude = -121.895047; duration = 412; initialDepth = 330.774671; finalDepth = 327.019770; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 60.544406 # Actual altitude: 60.544406 # Commanded vehicle depth: 327.01977 # Seafloor depth: -387.564176 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.33; 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 15 # Segment length 78.355501 meters # Minimum depth: 380.774671 meters looking forward 100.000000 meters along route # Maximum depth: 387.985996 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 330.774671 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800321; longitude = -121.893964; duration = 313; # abortOnTimeout = True; initialDepth = 318.344427; finalDepth = 330.774671; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.544406 # Actual altitude: 60.544406 # Commanded vehicle depth: 330.774671 # Seafloor depth: -382.253914 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 102.851672 meters # Minimum depth: 368.344427 meters looking forward 100.000000 meters along route # Maximum depth: 387.016709 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 318.344427 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799803; longitude = -121.893367; duration = 411; initialDepth = 314.335418; finalDepth = 318.344427; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.672282 # Actual altitude: 68.672282 # Commanded vehicle depth: 318.344427 # Seafloor depth: -387.016709 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.752186 meters # Minimum depth: 364.335418 meters looking forward 100.000000 meters along route # Maximum depth: 374.992183 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 314.335418 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799124; longitude = -121.892582; duration = 403; initialDepth = 328.077199; finalDepth = 314.335418; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.672282 # Actual altitude: 68.672282 # Commanded vehicle depth: 314.335418 # Seafloor depth: -369.669750 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.085831 meters # Minimum depth: 378.077199 meters looking forward 100.000000 meters along route # Maximum depth: 398.095746 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 328.077199 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798458; longitude = -121.891814; duration = 400; initialDepth = 341.197928; finalDepth = 328.077199; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 55.334332 # Actual altitude: 55.334332 # Commanded vehicle depth: 328.077199 # Seafloor depth: -378.077199 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 104.316267 meters # Minimum depth: 391.197928 meters looking forward 100.000000 meters along route # Maximum depth: 399.829987 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 341.197928 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797797; longitude = -121.891051; duration = 417; # abortOnTimeout = True; initialDepth = 349.606262; finalDepth = 341.197928; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.632059 # Actual altitude: 58.632059 # Commanded vehicle depth: 341.197928 # Seafloor depth: -399.829987 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.971783 meters # Minimum depth: 399.606262 meters looking forward 100.000000 meters along route # Maximum depth: 421.477874 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 349.606262 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797930; longitude = -121.889894; duration = 403; initialDepth = 375.041827; finalDepth = 349.606262; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.632059 # Actual altitude: 58.632059 # Commanded vehicle depth: 349.606262 # Seafloor depth: -399.606262 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.238186 meters # Minimum depth: 425.041827 meters looking forward 100.000000 meters along route # Maximum depth: 430.851611 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 375.041827 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798059; longitude = -121.888773; duration = 404; initialDepth = 373.806159; finalDepth = 375.041827; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 375.041827 # Seafloor depth: -425.041827 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 100.704958 meters # Minimum depth: 423.806159 meters looking forward 100.000000 meters along route # Maximum depth: 433.162016 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 373.806159 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798188; longitude = -121.887650; duration = 402; initialDepth = 342.957594; finalDepth = 373.806159; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.073997 # Actual altitude: 57.073997 # Commanded vehicle depth: 373.806159 # Seafloor depth: -430.880156 # 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 14 # Segment length 100.971361 meters # Minimum depth: 392.957594 meters looking forward 100.000000 meters along route # Maximum depth: 418.731298 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 342.957594 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798316; longitude = -121.886533; duration = 403; initialDepth = 344.724651; finalDepth = 342.957594; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.773704 # Actual altitude: 75.773704 # Commanded vehicle depth: 342.957594 # Seafloor depth: -418.731298 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 104.306251 meters # Minimum depth: 394.724651 meters looking forward 100.000000 meters along route # Maximum depth: 402.076556 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 344.724651 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798445; longitude = -121.885412; duration = 417; initialDepth = 345.384048; finalDepth = 344.724651; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75.773704 # Actual altitude: 75.773704 # Commanded vehicle depth: 344.724651 # Seafloor depth: -399.250557 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.46; 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 13 # Segment length 134.321760 meters # Minimum depth: 395.384048 meters looking forward 100.000000 meters along route # Maximum depth: 404.089647 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 345.384048 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798578; longitude = -121.884255; duration = 537; # abortOnTimeout = True; initialDepth = 341.202271; finalDepth = 345.384048; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.525906 # Actual altitude: 54.525906 # Commanded vehicle depth: 345.384048 # Seafloor depth: -395.384048 # 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 13 # Segment length 100.278190 meters # Minimum depth: 391.202271 meters looking forward 100.000000 meters along route # Maximum depth: 398.580123 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 341.202271 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797917; longitude = -121.882993; duration = 401; initialDepth = 339.668898; finalDepth = 341.202271; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.377852 # Actual altitude: 57.377852 # Commanded vehicle depth: 341.202271 # Seafloor depth: -398.580123 # 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 13 # Segment length 101.323023 meters # Minimum depth: 389.668898 meters looking forward 100.000000 meters along route # Maximum depth: 391.857005 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 339.668898 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797424; longitude = -121.882051; duration = 405; initialDepth = 330.360889; finalDepth = 339.668898; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.377852 # Actual altitude: 57.377852 # Commanded vehicle depth: 339.668898 # Seafloor depth: -391.857005 # 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 13 # Segment length 101.437518 meters # Minimum depth: 380.360889 meters looking forward 100.000000 meters along route # Maximum depth: 392.619303 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 330.360889 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796926; longitude = -121.881100; duration = 405; initialDepth = 327.043338; finalDepth = 330.360889; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.914418 # Actual altitude: 60.914418 # Commanded vehicle depth: 330.360889 # Seafloor depth: -391.275307 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.344593 meters # Minimum depth: 377.043338 meters looking forward 100.000000 meters along route # Maximum depth: 381.920802 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 327.043338 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796427; longitude = -121.880147; duration = 429; initialDepth = 319.931887; finalDepth = 327.043338; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.914418 # Actual altitude: 60.914418 # Commanded vehicle depth: 327.043338 # Seafloor depth: -379.175351 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 102.787135 meters # Minimum depth: 369.931887 meters looking forward 100.000000 meters along route # Maximum depth: 380.897742 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 319.931887 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795899; longitude = -121.879139; duration = 411; initialDepth = 319.023785; finalDepth = 319.931887; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.965855 # Actual altitude: 60.965855 # Commanded vehicle depth: 319.931887 # Seafloor depth: -380.897742 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 103.917534 meters # Minimum depth: 369.023785 meters looking forward 100.000000 meters along route # Maximum depth: 371.213375 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 319.023785 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795394; longitude = -121.878173; duration = 415; initialDepth = 303.180906; finalDepth = 319.023785; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 60.965855 # Actual altitude: 60.965855 # Commanded vehicle depth: 319.023785 # Seafloor depth: -369.509385 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 126.163454 meters # Minimum depth: 353.180906 meters looking forward 100.000000 meters along route # Maximum depth: 369.587013 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 303.180906 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794883; longitude = -121.877197; duration = 504; # abortOnTimeout = True; initialDepth = 285.710870; finalDepth = 303.180906; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.406107 # Actual altitude: 66.406107 # Commanded vehicle depth: 303.180906 # Seafloor depth: -369.587013 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.385020 meters # Minimum depth: 335.710870 meters looking forward 100.000000 meters along route # Maximum depth: 352.563297 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 285.710870 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795316; longitude = -121.875890; duration = 405; initialDepth = 266.409123; finalDepth = 285.710870; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.852427 # Actual altitude: 66.852427 # Commanded vehicle depth: 285.71087 # Seafloor depth: -352.563297 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 104.982019 meters # Minimum depth: 316.409123 meters looking forward 100.000000 meters along route # Maximum depth: 334.772926 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 266.409123 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795664; longitude = -121.874839; duration = 419; initialDepth = 258.571393; finalDepth = 266.409123; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.363803 # Actual altitude: 68.363803 # Commanded vehicle depth: 266.409123 # Seafloor depth: -334.772926 # 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 12 # Segment length 107.158873 meters # Minimum depth: 308.571393 meters looking forward 100.000000 meters along route # Maximum depth: 316.311267 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 258.571393 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796025; longitude = -121.873751; duration = 428; initialDepth = 257.838243; finalDepth = 258.571393; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.363803 # Actual altitude: 68.363803 # Commanded vehicle depth: 258.571393 # Seafloor depth: -316.311267 # 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 12 # Segment length 108.111568 meters # Minimum depth: 307.838243 meters looking forward 100.000000 meters along route # Maximum depth: 308.468466 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 257.838243 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796393; longitude = -121.872641; duration = 432; initialDepth = 258.087055; finalDepth = 257.838243; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.739874 # Actual altitude: 57.739874 # Commanded vehicle depth: 257.838243 # Seafloor depth: -308.468466 # 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 12 # Segment length 108.111150 meters # Minimum depth: 308.087055 meters looking forward 100.000000 meters along route # Maximum depth: 311.033693 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 258.087055 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796764; longitude = -121.871520; duration = 432; initialDepth = 258.395516; finalDepth = 258.087055; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.630223 # Actual altitude: 50.630223 # Commanded vehicle depth: 258.087055 # Seafloor depth: -308.087055 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 108.110731 meters # Minimum depth: 308.395516 meters looking forward 100.000000 meters along route # Maximum depth: 319.037216 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 258.395516 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797135; longitude = -121.870400; duration = 432; initialDepth = 272.500363; finalDepth = 258.395516; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.801015 # Actual altitude: 50.801015 # Commanded vehicle depth: 258.395516 # Seafloor depth: -309.196531 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 108.110312 meters # Minimum depth: 322.500363 meters looking forward 100.000000 meters along route # Maximum depth: 340.052456 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 272.500363 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797507; longitude = -121.869280; duration = 432; initialDepth = 284.497791; finalDepth = 272.500363; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.801015 # Actual altitude: 50.801015 # Commanded vehicle depth: 272.500363 # Seafloor depth: -322.500363 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 108.109895 meters # Minimum depth: 334.497791 meters looking forward 100.000000 meters along route # Maximum depth: 339.026750 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 284.497791 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797878; longitude = -121.868159; duration = 432; initialDepth = 285.612990; finalDepth = 284.497791; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.528959 # Actual altitude: 54.528959 # Commanded vehicle depth: 284.497791 # Seafloor depth: -339.026750 # 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 12 # Segment length 104.523332 meters # Minimum depth: 335.612990 meters looking forward 100.000000 meters along route # Maximum depth: 336.776357 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 285.612990 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798249; longitude = -121.867039; duration = 418; initialDepth = 269.443676; finalDepth = 285.612990; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 54.528959 # Actual altitude: 54.528959 # Commanded vehicle depth: 285.61299 # Seafloor depth: -335.642953 # 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 to get to end of line 11 # Segment length 134.480128 meters # Minimum depth: 319.443676 meters looking forward 100.000000 meters along route # Maximum depth: 335.997520 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 269.443676 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798608; longitude = -121.865956; duration = 537; # abortOnTimeout = True; initialDepth = 252.847882; finalDepth = 269.443676; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.553844 # Actual altitude: 66.553844 # Commanded vehicle depth: 269.443676 # Seafloor depth: -335.997520 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 107.562622 meters # Minimum depth: 302.847882 meters looking forward 100.000000 meters along route # Maximum depth: 319.151743 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 252.847882 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799560; longitude = -121.865023; duration = 430; initialDepth = 225.380775; finalDepth = 252.847882; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 66.553844 # Actual altitude: 66.553844 # Commanded vehicle depth: 252.847882 # Seafloor depth: -319.151743 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.93; 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 161.395562 meters # Minimum depth: 275.380775 meters looking forward 100.000000 meters along route # Maximum depth: 303.654037 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 225.380775 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800321; longitude = -121.864276; duration = 645; # abortOnTimeout = True; initialDepth = 216.894103; finalDepth = 225.380775; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.273262 # Actual altitude: 78.273262 # Commanded vehicle depth: 225.380775 # Seafloor depth: -303.654037 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 100.467985 meters # Minimum depth: 266.894103 meters looking forward 100.000000 meters along route # Maximum depth: 289.381928 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 216.894103 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.801617; longitude = -121.863454; duration = 401; initialDepth = 209.730037; finalDepth = 216.894103; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.273262 # Actual altitude: 78.273262 # Commanded vehicle depth: 216.894103 # Seafloor depth: -275.203255 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 104.776226 meters # Minimum depth: 259.730037 meters looking forward 100.000000 meters along route # Maximum depth: 289.522714 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 209.730037 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.802424; longitude = -121.862943; duration = 419; initialDepth = 209.052326; finalDepth = 209.730037; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 79.792677 # Actual altitude: 79.792677 # Commanded vehicle depth: 209.730037 # Seafloor depth: -289.522714 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 47.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 100.919198 meters # Minimum depth: 259.052326 meters looking forward 100.000000 meters along route # Maximum depth: 304.313501 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 209.052326 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.803265; longitude = -121.862409; duration = 403; # abortOnTimeout = True; initialDepth = 245.783909; finalDepth = 209.052326; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.792677 # Actual altitude: 79.792677 # Commanded vehicle depth: 209.052326 # Seafloor depth: -259.052326 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 47.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 104.352340 meters # Minimum depth: 297.045631 meters looking forward 100.000000 meters along route # Maximum depth: 313.370098 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 245.783909 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.803526; longitude = -121.861326; duration = 417; initialDepth = 261.410234; finalDepth = 245.783909; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.0354575425042 # Actual altitude: 59.0354575425042 # Commanded vehicle depth: 245.783909457496 # Seafloor depth: -304.819367 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.790575 meters # Minimum depth: 311.410234 meters looking forward 100.000000 meters along route # Maximum depth: 316.604016 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 261.410234 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.803797; longitude = -121.860205; duration = 431; initialDepth = 249.539856; finalDepth = 261.410234; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 59.0354575425042 # Actual altitude: 59.0354575425042 # Commanded vehicle depth: 261.410234 # Seafloor depth: -316.604016 # 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 to get to end of line 8 # Segment length 129.605080 meters # Minimum depth: 299.539856 meters looking forward 100.000000 meters along route # Maximum depth: 320.767777 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 249.539856 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.804076; longitude = -121.859048; duration = 518; # abortOnTimeout = True; initialDepth = 248.381409; finalDepth = 249.539856; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.118156 # Actual altitude: 65.118156 # Commanded vehicle depth: 249.539856 # Seafloor depth: -314.658012 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 105.685011 meters # Minimum depth: 298.381409 meters looking forward 100.000000 meters along route # Maximum depth: 307.362078 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 248.381409 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.803828; longitude = -121.857629; duration = 422; initialDepth = 256.045370; finalDepth = 248.381409; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 65.118156 # Actual altitude: 65.118156 # Commanded vehicle depth: 248.381409 # Seafloor depth: -298.381409 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.07; 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 7 # Segment length 116.403639 meters # Minimum depth: 306.045370 meters looking forward 100.000000 meters along route # Maximum depth: 319.007370 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 256.045370 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.803625; longitude = -121.856471; duration = 465; # abortOnTimeout = True; initialDepth = 235.607373; finalDepth = 256.045370; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.978426 # Actual altitude: 50.978426 # Commanded vehicle depth: 256.04537 # Seafloor depth: -307.023796 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.529843 meters # Minimum depth: 285.607373 meters looking forward 100.000000 meters along route # Maximum depth: 303.650039 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 235.607373 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.802835; longitude = -121.855612; duration = 402; initialDepth = 233.080553; finalDepth = 235.607373; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.042666 # Actual altitude: 68.042666 # Commanded vehicle depth: 235.607373 # Seafloor depth: -303.650039 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 101.901865 meters # Minimum depth: 283.080553 meters looking forward 100.000000 meters along route # Maximum depth: 286.862894 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 233.080553 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.802153; longitude = -121.854870; duration = 407; initialDepth = 227.588640; finalDepth = 233.080553; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 68.042666 # Actual altitude: 68.042666 # Commanded vehicle depth: 233.080553 # Seafloor depth: -284.000642 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 176.738325 meters # Minimum depth: 277.588640 meters looking forward 100.000000 meters along route # Maximum depth: 288.590165 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 227.588640 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.801462; longitude = -121.854118; duration = 706; # abortOnTimeout = True; initialDepth = 230.923228; finalDepth = 227.588640; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.664511 # Actual altitude: 59.664511 # Commanded vehicle depth: 227.58864 # Seafloor depth: -287.253151 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 103.764710 meters # Minimum depth: 280.923228 meters looking forward 100.000000 meters along route # Maximum depth: 284.632910 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 230.923228 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800080; longitude = -121.853132; duration = 415; initialDepth = 234.904099; finalDepth = 230.923228; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.664511 # Actual altitude: 59.664511 # Commanded vehicle depth: 230.923228 # Seafloor depth: -283.124921 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 107.630744 meters # Minimum depth: 284.904099 meters looking forward 100.000000 meters along route # Maximum depth: 287.341119 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 234.904099 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799269; longitude = -121.852553; duration = 430; initialDepth = 220.994756; finalDepth = 234.904099; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 52.201693 # Actual altitude: 52.201693 # Commanded vehicle depth: 234.904099 # Seafloor depth: -285.107686 # 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 to get to end of line 5 # Segment length 123.595687 meters # Minimum depth: 270.994756 meters looking forward 100.000000 meters along route # Maximum depth: 285.324181 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 220.994756 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798428; longitude = -121.851952; duration = 494; # abortOnTimeout = True; initialDepth = 214.183753; finalDepth = 220.994756; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.329425 # Actual altitude: 64.329425 # Commanded vehicle depth: 220.994756 # Seafloor depth: -285.324181 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 106.647925 meters # Minimum depth: 264.183753 meters looking forward 100.000000 meters along route # Maximum depth: 270.755507 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 214.183753 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798008; longitude = -121.850669; duration = 426; initialDepth = 206.594908; finalDepth = 214.183753; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.329425 # Actual altitude: 64.329425 # Commanded vehicle depth: 214.183753 # Seafloor depth: -270.755507 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.938438 meters # Minimum depth: 256.594908 meters looking forward 100.000000 meters along route # Maximum depth: 264.126061 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 206.594908 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797645; longitude = -121.849562; duration = 431; initialDepth = 198.254079; finalDepth = 206.594908; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.531153 # Actual altitude: 57.531153 # Commanded vehicle depth: 206.594908 # Seafloor depth: -264.126061 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.938907 meters # Minimum depth: 248.254079 meters looking forward 100.000000 meters along route # Maximum depth: 256.444940 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 198.254079 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797278; longitude = -121.848442; duration = 431; initialDepth = 198.819357; finalDepth = 198.254079; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.190861 # Actual altitude: 58.190861 # Commanded vehicle depth: 198.254079 # Seafloor depth: -256.444940 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 101.414152 meters # Minimum depth: 248.819357 meters looking forward 100.000000 meters along route # Maximum depth: 249.856866 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 198.819357 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796911; longitude = -121.847322; duration = 405; initialDepth = 187.487275; finalDepth = 198.819357; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.190861 # Actual altitude: 58.190861 # Commanded vehicle depth: 198.819357 # Seafloor depth: -248.819357 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 105.985985 meters # Minimum depth: 237.487275 meters looking forward 100.000000 meters along route # Maximum depth: 248.819376 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 187.487275 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796566; longitude = -121.846269; duration = 423; initialDepth = 178.766959; finalDepth = 187.487275; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.332101 # Actual altitude: 61.332101 # Commanded vehicle depth: 187.487275 # Seafloor depth: -248.819376 # 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 5 # Segment length 105.986436 meters # Minimum depth: 228.766959 meters looking forward 100.000000 meters along route # Maximum depth: 237.002143 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 178.766959 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796205; longitude = -121.845169; duration = 423; initialDepth = 177.562209; finalDepth = 178.766959; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.332101 # Actual altitude: 61.332101 # Commanded vehicle depth: 178.766959 # Seafloor depth: -237.002143 # 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 5 # Segment length 107.579638 meters # Minimum depth: 227.562209 meters looking forward 100.000000 meters along route # Maximum depth: 229.179230 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 177.562209 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795845; longitude = -121.844069; duration = 430; initialDepth = 173.893832; finalDepth = 177.562209; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.235184 # Actual altitude: 58.235184 # Commanded vehicle depth: 177.562209 # Seafloor depth: -228.739352 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.941201 meters # Minimum depth: 223.893832 meters looking forward 100.000000 meters along route # Maximum depth: 227.585403 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 173.893832 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795479; longitude = -121.842952; duration = 431; initialDepth = 174.233419; finalDepth = 173.893832; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.56726 # Actual altitude: 53.56726 # Commanded vehicle depth: 173.893832 # Seafloor depth: -227.461092 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.941670 meters # Minimum depth: 224.233419 meters looking forward 100.000000 meters along route # Maximum depth: 230.641008 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 174.233419 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795112; longitude = -121.841832; duration = 431; initialDepth = 177.854460; finalDepth = 174.233419; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.56726 # Actual altitude: 53.56726 # Commanded vehicle depth: 174.233419 # Seafloor depth: -224.233419 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.487750 meters # Minimum depth: 227.854460 meters looking forward 100.000000 meters along route # Maximum depth: 230.610411 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 177.854460 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794744; longitude = -121.840712; duration = 401; initialDepth = 167.421586; finalDepth = 177.854460; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.755951 # Actual altitude: 52.755951 # Commanded vehicle depth: 177.85446 # Seafloor depth: -230.610411 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 105.988694 meters # Minimum depth: 217.421586 meters looking forward 100.000000 meters along route # Maximum depth: 228.083949 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 167.421586 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794403; longitude = -121.839669; duration = 423; initialDepth = 154.448976; finalDepth = 167.421586; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.662363 # Actual altitude: 60.662363 # Commanded vehicle depth: 167.421586 # Seafloor depth: -228.083949 # 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 5 # Segment length 106.557049 meters # Minimum depth: 204.448976 meters looking forward 100.000000 meters along route # Maximum depth: 217.348226 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 154.448976 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794042; longitude = -121.838569; duration = 426; initialDepth = 154.110428; finalDepth = 154.448976; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.89925 # Actual altitude: 62.89925 # Commanded vehicle depth: 154.448976 # Seafloor depth: -217.348226 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.943497 meters # Minimum depth: 204.110428 meters looking forward 100.000000 meters along route # Maximum depth: 240.859230 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 154.110428 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793680; longitude = -121.837463; duration = 431; initialDepth = 185.079946; finalDepth = 154.110428; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.89925 # Actual altitude: 62.89925 # Commanded vehicle depth: 154.110428 # Seafloor depth: -204.375258 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.943966 meters # Minimum depth: 235.079946 meters looking forward 100.000000 meters along route # Maximum depth: 241.475756 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 185.079946 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793313; longitude = -121.836343; duration = 431; initialDepth = 165.930455; finalDepth = 185.079946; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.747647 # Actual altitude: 55.747647 # Commanded vehicle depth: 185.079946 # Seafloor depth: -240.827593 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.944434 meters # Minimum depth: 215.930455 meters looking forward 100.000000 meters along route # Maximum depth: 234.502520 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 165.930455 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792945; longitude = -121.835222; duration = 431; initialDepth = 167.713892; finalDepth = 165.930455; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.572065 # Actual altitude: 68.572065 # Commanded vehicle depth: 165.930455 # Seafloor depth: -234.502520 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.944903 meters # Minimum depth: 217.713892 meters looking forward 100.000000 meters along route # Maximum depth: 226.277965 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 167.713892 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792578; longitude = -121.834102; duration = 431; initialDepth = 137.537791; finalDepth = 167.713892; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.572065 # Actual altitude: 68.572065 # Commanded vehicle depth: 167.713892 # Seafloor depth: -226.241494 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.945371 meters # Minimum depth: 187.537791 meters looking forward 100.000000 meters along route # Maximum depth: 215.827490 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 137.537791 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792211; longitude = -121.832982; duration = 431; initialDepth = 119.325576; finalDepth = 137.537791; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.289699 # Actual altitude: 78.289699 # Commanded vehicle depth: 137.537791 # Seafloor depth: -215.827490 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 104.375613 meters # Minimum depth: 169.325576 meters looking forward 100.000000 meters along route # Maximum depth: 189.290461 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 119.325576 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791844; longitude = -121.831861; duration = 417; initialDepth = 121.544533; finalDepth = 119.325576; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 78.289699 # Actual altitude: 78.289699 # Commanded vehicle depth: 119.325576 # Seafloor depth: -189.185446 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.97; 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 172.755797 meters # Minimum depth: 171.544533 meters looking forward 100.000000 meters along route # Maximum depth: 178.234469 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 121.544533 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791489; longitude = -121.830778; duration = 691; # abortOnTimeout = True; initialDepth = 119.301487; finalDepth = 121.544533; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.85987 # Actual altitude: 69.85987 # Commanded vehicle depth: 121.544533 # Seafloor depth: -171.544533 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 102.303511 meters # Minimum depth: 169.301487 meters looking forward 100.000000 meters along route # Maximum depth: 172.239861 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 119.301487 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791998; longitude = -121.828948; duration = 409; initialDepth = 122.327908; finalDepth = 119.301487; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 52.938374 # Actual altitude: 52.938374 # Commanded vehicle depth: 119.301487 # Seafloor depth: -172.239861 # 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 to get to end of line 3 # Segment length 134.060861 meters # Minimum depth: 172.327908 meters looking forward 100.000000 meters along route # Maximum depth: 175.191793 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 122.327908 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792300; longitude = -121.827865; duration = 536; # abortOnTimeout = True; initialDepth = 109.829744; finalDepth = 122.327908; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.938374 # Actual altitude: 52.938374 # Commanded vehicle depth: 122.327908 # Seafloor depth: -172.327908 # 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 3 # Segment length 100.576486 meters # Minimum depth: 159.829744 meters looking forward 100.000000 meters along route # Maximum depth: 172.394047 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 109.829744 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793141; longitude = -121.826786; duration = 402; initialDepth = 107.734813; finalDepth = 109.829744; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.564303 # Actual altitude: 62.564303 # Commanded vehicle depth: 109.829744 # Seafloor depth: -172.394047 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 104.020901 meters # Minimum depth: 157.734813 meters looking forward 100.000000 meters along route # Maximum depth: 164.304394 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 107.734813 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793772; longitude = -121.825977; duration = 416; initialDepth = 114.258330; finalDepth = 107.734813; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.564303 # Actual altitude: 62.564303 # Commanded vehicle depth: 107.734813 # Seafloor depth: -158.807119 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 106.775620 meters # Minimum depth: 164.258330 meters looking forward 100.000000 meters along route # Maximum depth: 169.661443 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 114.258330 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794424; longitude = -121.825139; duration = 427; initialDepth = 97.207704; finalDepth = 114.258330; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 51.072306 # Actual altitude: 51.072306 # Commanded vehicle depth: 114.25833 # Seafloor depth: -164.258330 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 83.709031 meters # Minimum depth: 147.207704 meters looking forward 100.000000 meters along route # Maximum depth: 169.661443 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 97.207704 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795094; longitude = -121.824280; duration = 334; # abortOnTimeout = True; initialDepth = 66.929735; finalDepth = 97.207704; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.333369 # Actual altitude: 72.333369 # Commanded vehicle depth: 97.207704 # Seafloor depth: -169.541073 # 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 2 # Segment length 100.506360 meters # Minimum depth: 116.929735 meters looking forward 100.000000 meters along route # Maximum depth: 144.842383 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.929735 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795845; longitude = -121.824185; duration = 402; initialDepth = 70.732865; finalDepth = 66.929735; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.912648 # Actual altitude: 77.912648 # Commanded vehicle depth: 66.929735 # Seafloor depth: -144.842383 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.506365 meters # Minimum depth: 120.732865 meters looking forward 100.000000 meters along route # Maximum depth: 124.157918 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 70.732865 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796746; longitude = -121.824071; duration = 402; initialDepth = 68.498164; finalDepth = 70.732865; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.912648 # Actual altitude: 77.912648 # Commanded vehicle depth: 70.732865 # Seafloor depth: -121.081744 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.506371 meters # Minimum depth: 118.498164 meters looking forward 100.000000 meters along route # Maximum depth: 133.556749 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 68.498164 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797647; longitude = -121.823956; duration = 402; initialDepth = 84.514438; finalDepth = 68.498164; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.093529 # Actual altitude: 51.093529 # Commanded vehicle depth: 68.498164 # Seafloor depth: -119.591693 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 107.244064 meters # Minimum depth: 134.514438 meters looking forward 100.000000 meters along route # Maximum depth: 149.147851 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 84.514438 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798548; longitude = -121.823842; duration = 428; initialDepth = 85.725921; finalDepth = 84.514438; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 51.093529 # Actual altitude: 51.093529 # Commanded vehicle depth: 84.514438 # Seafloor depth: -134.979077 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 104.402830 meters # Minimum depth: 135.725921 meters looking forward 100.000000 meters along route # Maximum depth: 143.823432 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 85.725921 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799510; longitude = -121.823720; duration = 417; # abortOnTimeout = True; initialDepth = 59.445069; finalDepth = 85.725921; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.656857 # Actual altitude: 57.656857 # Commanded vehicle depth: 85.725921 # Seafloor depth: -143.382778 # 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 1 # Segment length 101.071247 meters # Minimum depth: 109.445069 meters looking forward 100.000000 meters along route # Maximum depth: 134.489201 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.445069 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800441; longitude = -121.823891; duration = 404; initialDepth = 3.906162; finalDepth = 59.445069; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.718839 # Actual altitude: 72.718839 # Commanded vehicle depth: 59.445069 # Seafloor depth: -132.163908 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.071231 meters # Minimum depth: 53.906162 meters looking forward 100.000000 meters along route # Maximum depth: 105.619376 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3.906162 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.801342; longitude = -121.824056; duration = 404; initialDepth = 3.000000; finalDepth = 3.906162; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 101.713214 # Actual altitude: 100 # Commanded vehicle depth: 3.906162 # Seafloor depth: -105.619376 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.071218 meters # Minimum depth: 45.232943 meters looking forward 100.000000 meters along route # Maximum depth: 50.467002 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.802243; longitude = -121.824222; duration = 404; initialDepth = 3.000000; finalDepth = 3.000000; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 101.713214 # Actual altitude: 100 # Commanded vehicle depth: 3 # Seafloor depth: -50.467002 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.071203 meters # Minimum depth: 43.806723 meters looking forward 100.000000 meters along route # Maximum depth: 45.028803 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.803145; longitude = -121.824387; duration = 404; initialDepth = 3.000000; finalDepth = 3.000000; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 47.467002 # Actual altitude: 50 # Commanded vehicle depth: 3 # Seafloor depth: -45.028803 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.782829 meters # Minimum depth: 42.015482 meters looking forward 100.000000 meters along route # Maximum depth: 43.780553 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.804046; longitude = -121.824553; duration = 431; initialDepth = 3.000000; finalDepth = 3.000000; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 42.028803 # Actual altitude: 50 # Commanded vehicle depth: 3 # Seafloor depth: -43.688171 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 2; } # Set sonar parameters # Waypoint type: 3 # Commanded altitude: 40.688171 # Sonar parameter altitude: 50 # Commanded vehicle depth: 3 # Seafloor depth: -41.982756 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; SBP_Duration = 300.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 200.00; MB_Power = 218; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 33; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000033; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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; Log_Mode = 0; } # ####################################################### # # Waypoint behavior to get to start of line 1 # Segment length 0.000000 meters # Minimum depth: 41.982756 meters looking forward 100.000000 meters along route # Maximum depth: 43.780553 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.486644 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint { latitude = 36.805007; longitude = -121.824729; duration = 600; depth = 3.000000; speed = 1.500000; } ####################################################### # Acoustic update 6 - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 114.0; 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 = 114.0; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 300.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 33; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000033; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### ####################################################### ####################################################### #######################################################