# 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 2280 2016-08-07 03:48:42Z caress r # # Mission Summary: # Route File: ShelfedgePingo_alongstrike_M1_V117hr_V9.rte # Mission File: ShelfedgePingo_alongstrike_M1_V117hr_V9.cfg # Distance: 90012.369735 (m) # Estimated Time: 61018 (s) 16.949 (hr) # Abort Time: 66300 (s) # Max battery life: 68400 (s) # Safety margin: 1800 (s) # Ascend time: 300 (s) # Way Points: 49 # Route Points: 855 # 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: 31 dB # Multibeam transmit gain: 218 dB # Multibeam pulse width: 3.3e-05 usec # Multibeam minimum range fraction: 0.6 # Multibeam maximum range fraction: 5.0 # Subbottom enabled # Low sidescan enabled # High sidescan disabled # Benthic imaging camera control disabled: # # Mission Parameters: # Vehicle Survey Speed: 1.500000 (m/s) 2.915769 (knots) # Vehicle Ascent Speed: 1.500000 (m/s) 2.915769 (knots) # Vehicle Transit Speed: 1.500000 (m/s) 2.915769 (knots) # Minimum Vehicle Altitude 1: 50 (m) # Abort Vehicle Altitude 1: 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: 201.365548 (m) # Abort Vehicle Depth: 226.365548 (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 -135.107462 70.815232 -112.894661 0.000000 3 # 1 -135.160572 70.839668 -227.240639 3349.150546 3 # 2 -135.104517 70.853443 -217.651012 5913.062622 3 # 3 -135.060086 70.834178 -125.497177 8608.299739 3 # 4 -135.029674 70.841513 -115.738659 9990.514462 3 # 5 -135.074103 70.859990 -209.891441 12615.832817 3 # 6 -135.069751 70.860187 -204.148621 12776.597810 3 # 7 -135.163511 70.837355 -218.171577 17050.897188 3 # 8 -135.161070 70.836276 -206.659145 17200.827562 3 # 9 -135.067312 70.859106 -193.750385 21475.084573 3 # 10 -135.064873 70.858025 -184.307690 21625.092508 3 # 11 -135.158628 70.835196 -192.960762 25899.344249 3 # 12 -135.167664 70.830666 -185.220222 26503.400881 3 # 13 -135.165391 70.831848 -180.052654 26659.338936 3 # 14 -135.163345 70.832803 -186.772053 26789.590650 5 # 15 -135.161663 70.833667 -189.025162 26903.975966 5 # 16 -135.160072 70.834440 -192.819256 27008.047488 3 # 17 -135.158663 70.835167 -192.960762 27104.169071 3 # 18 -135.156617 70.833121 -175.700851 27344.354638 3 # 19 -135.165482 70.835031 -208.871124 27732.800940 3 # 20 -135.156617 70.833121 -175.700851 28121.247242 3 # 21 -135.156187 70.834116 -179.476879 28233.330412 3 # 22 -135.062434 70.856944 -176.780701 32507.606293 3 # 23 -135.059995 70.855863 -169.922646 32657.619974 3 # 24 -135.153747 70.833036 -173.190651 36931.949413 3 # 25 -135.151306 70.831957 -172.705116 37081.891297 3 # 26 -135.057557 70.854782 -162.052025 41356.148964 3 # 27 -135.055119 70.853701 -155.468708 41506.146610 3 # 28 -135.148866 70.830877 -163.111427 45780.428418 3 # 29 -135.146426 70.829797 -155.868416 45930.443728 3 # 30 -135.052682 70.852620 -150.674782 50204.720251 3 # 31 -135.050244 70.851539 -144.010590 50354.723640 3 # 32 -135.143986 70.828717 -152.197475 54629.024300 3 # 33 -135.141547 70.827637 -156.941326 54779.023514 3 # 34 -135.047807 70.850457 -135.461685 59053.281971 3 # 35 -135.045370 70.849376 -132.791252 59203.269322 3 # 36 -135.139108 70.826557 -157.807861 63477.551918 3 # 37 -135.136669 70.825477 -155.722195 63627.556878 3 # 38 -135.042934 70.848295 -131.920116 67901.834177 3 # 39 -135.040497 70.847214 -133.893120 68051.827268 3 # 40 -135.134230 70.824397 -144.273418 72326.128702 3 # 41 -135.131792 70.823317 -142.890995 72476.117560 3 # 42 -135.038061 70.846133 -141.912907 76750.443129 3 # 43 -135.035625 70.845051 -148.804607 76900.509844 3 # 44 -135.129353 70.822237 -138.020203 81174.763781 3 # 45 -135.126916 70.821157 -131.164913 81324.736536 3 # 46 -135.033190 70.843970 -124.694715 85599.014607 3 # 47 -135.030994 70.842873 -119.039074 85745.428879 3 # 48 -135.124736 70.820180 -127.796701 90012.369735 4 # # A total of 855 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 59400; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 201.365548; abortDepth = 226.365548; 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 = 300; 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 48 # Segment length 159.595627 meters # Minimum depth: 126.500619 meters looking forward 100.000000 meters along route # Maximum depth: 130.726829 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 76.500619 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.820180; longitude = -135.124736; duration = 638; # abortOnTimeout = True; initialDepth = 76.814019; finalDepth = 76.500619; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.296082 # Actual altitude: 51.296082 # Commanded vehicle depth: 76.500619 # Seafloor depth: -127.796701 # 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 48 # Segment length 104.826531 meters # Minimum depth: 126.814019 meters looking forward 100.000000 meters along route # Maximum depth: 130.176441 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 76.814019 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.821028; longitude = -135.121231; duration = 419; initialDepth = 75.650520; finalDepth = 76.814019; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.362422 # Actual altitude: 53.362422 # Commanded vehicle depth: 76.814019 # Seafloor depth: -130.176441 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 100.396967 meters # Minimum depth: 125.650520 meters looking forward 100.000000 meters along route # Maximum depth: 126.635183 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 75.650520 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.821586; longitude = -135.118929; duration = 401; initialDepth = 76.020156; finalDepth = 75.650520; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.362422 # Actual altitude: 53.362422 # Commanded vehicle depth: 75.65052 # Seafloor depth: -126.635183 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 102.609021 meters # Minimum depth: 126.020156 meters looking forward 100.000000 meters along route # Maximum depth: 126.787928 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 76.020156 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.822120; longitude = -135.116724; duration = 410; initialDepth = 73.976553; finalDepth = 76.020156; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.984663 # Actual altitude: 50.984663 # Commanded vehicle depth: 76.020156 # Seafloor depth: -126.495563 # 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 48 # Segment length 102.607202 meters # Minimum depth: 123.976553 meters looking forward 100.000000 meters along route # Maximum depth: 125.936331 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 73.976553 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.822665; longitude = -135.114470; duration = 410; initialDepth = 74.317940; finalDepth = 73.976553; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.959778 # Actual altitude: 51.959778 # Commanded vehicle depth: 73.976553 # Seafloor depth: -125.936331 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 104.235162 meters # Minimum depth: 124.317940 meters looking forward 100.000000 meters along route # Maximum depth: 127.677763 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 74.317940 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.823211; longitude = -135.112217; duration = 416; initialDepth = 77.734542; finalDepth = 74.317940; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.959778 # Actual altitude: 51.959778 # Commanded vehicle depth: 74.31794 # Seafloor depth: -124.317940 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 100.973787 meters # Minimum depth: 127.734542 meters looking forward 100.000000 meters along route # Maximum depth: 129.748465 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 77.734542 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.823765; longitude = -135.109927; duration = 403; initialDepth = 79.805574; finalDepth = 77.734542; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 77.734542 # Seafloor depth: -127.734542 # 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 48 # Segment length 102.601745 meters # Minimum depth: 129.805574 meters looking forward 100.000000 meters along route # Maximum depth: 132.592563 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 79.805574 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.824302; longitude = -135.107710; duration = 410; initialDepth = 82.616753; finalDepth = 79.805574; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 79.805574 # Seafloor depth: -129.805574 # 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 48 # Segment length 102.599928 meters # Minimum depth: 132.616753 meters looking forward 100.000000 meters along route # Maximum depth: 132.964435 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 82.616753 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.824847; longitude = -135.105456; duration = 410; initialDepth = 82.911796; finalDepth = 82.616753; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.051999 # Actual altitude: 50.051999 # Commanded vehicle depth: 82.616753 # Seafloor depth: -132.668752 # 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 48 # Segment length 103.643875 meters # Minimum depth: 132.911796 meters looking forward 100.000000 meters along route # Maximum depth: 133.694378 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 82.911796 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.825393; longitude = -135.103202; duration = 414; initialDepth = 81.275682; finalDepth = 82.911796; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.051999 # Actual altitude: 50.051999 # Commanded vehicle depth: 82.911796 # Seafloor depth: -132.911796 # 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 48 # Segment length 101.550523 meters # Minimum depth: 131.275682 meters looking forward 100.000000 meters along route # Maximum depth: 132.992809 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 81.275682 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.825944; longitude = -135.100926; duration = 406; initialDepth = 80.087386; finalDepth = 81.275682; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.717127 # Actual altitude: 51.717127 # Commanded vehicle depth: 81.275682 # Seafloor depth: -132.992809 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 102.594472 meters # Minimum depth: 130.087386 meters looking forward 100.000000 meters along route # Maximum depth: 131.215199 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 80.087386 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.826484; longitude = -135.098695; duration = 410; initialDepth = 79.339654; finalDepth = 80.087386; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.717127 # Actual altitude: 51.717127 # Commanded vehicle depth: 80.087386 # Seafloor depth: -131.215199 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 102.592653 meters # Minimum depth: 129.339654 meters looking forward 100.000000 meters along route # Maximum depth: 130.855539 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 79.339654 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.827029; longitude = -135.096442; duration = 410; initialDepth = 78.543271; finalDepth = 79.339654; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.515885 # Actual altitude: 51.515885 # Commanded vehicle depth: 79.339654 # Seafloor depth: -130.855539 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 103.052671 meters # Minimum depth: 128.543271 meters looking forward 100.000000 meters along route # Maximum depth: 129.627762 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 78.543271 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.827575; longitude = -135.094188; duration = 412; initialDepth = 75.707317; finalDepth = 78.543271; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.515885 # Actual altitude: 51.515885 # Commanded vehicle depth: 78.543271 # Seafloor depth: -129.385146 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 102.127179 meters # Minimum depth: 125.707317 meters looking forward 100.000000 meters along route # Maximum depth: 128.537391 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 75.707317 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.828123; longitude = -135.091924; duration = 408; initialDepth = 75.217732; finalDepth = 75.707317; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.830074 # Actual altitude: 52.830074 # Commanded vehicle depth: 75.707317 # Seafloor depth: -128.537391 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 102.587197 meters # Minimum depth: 125.217732 meters looking forward 100.000000 meters along route # Maximum depth: 125.682972 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 75.217732 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.828666; longitude = -135.089681; duration = 410; initialDepth = 75.149033; finalDepth = 75.217732; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.830074 # Actual altitude: 52.830074 # Commanded vehicle depth: 75.217732 # Seafloor depth: -125.682972 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 102.585379 meters # Minimum depth: 125.149033 meters looking forward 100.000000 meters along route # Maximum depth: 125.962468 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 75.149033 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.829212; longitude = -135.087427; duration = 410; initialDepth = 72.461813; finalDepth = 75.149033; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.527334 # Actual altitude: 50.527334 # Commanded vehicle depth: 75.149033 # Seafloor depth: -125.676367 # 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 48 # Segment length 102.583561 meters # Minimum depth: 122.461813 meters looking forward 100.000000 meters along route # Maximum depth: 124.876187 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 72.461813 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.829757; longitude = -135.085174; duration = 410; initialDepth = 72.589313; finalDepth = 72.461813; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.414374 # Actual altitude: 52.414374 # Commanded vehicle depth: 72.461813 # Seafloor depth: -124.876187 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 102.581742 meters # Minimum depth: 122.589313 meters looking forward 100.000000 meters along route # Maximum depth: 123.938937 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 72.589313 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.830303; longitude = -135.082920; duration = 410; initialDepth = 72.217839; finalDepth = 72.589313; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.414374 # Actual altitude: 52.414374 # Commanded vehicle depth: 72.589313 # Seafloor depth: -122.589313 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 102.579924 meters # Minimum depth: 122.217839 meters looking forward 100.000000 meters along route # Maximum depth: 123.663898 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 72.217839 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.830848; longitude = -135.080666; duration = 410; initialDepth = 72.174315; finalDepth = 72.217839; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.446059 # Actual altitude: 51.446059 # Commanded vehicle depth: 72.217839 # Seafloor depth: -123.663898 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 105.122242 meters # Minimum depth: 122.174315 meters looking forward 100.000000 meters along route # Maximum depth: 124.187097 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 72.174315 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.831394; longitude = -135.078413; duration = 420; initialDepth = 73.417276; finalDepth = 72.174315; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.446059 # Actual altitude: 51.446059 # Commanded vehicle depth: 72.174315 # Seafloor depth: -122.174315 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 100.032150 meters # Minimum depth: 123.417276 meters looking forward 100.000000 meters along route # Maximum depth: 124.906911 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 73.417276 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.831953; longitude = -135.076103; duration = 400; initialDepth = 74.918744; finalDepth = 73.417276; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.036693 # Actual altitude: 50.036693 # Commanded vehicle depth: 73.417276 # Seafloor depth: -123.453969 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 102.574469 meters # Minimum depth: 124.918744 meters looking forward 100.000000 meters along route # Maximum depth: 127.529594 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 74.918744 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.832485; longitude = -135.073906; duration = 410; initialDepth = 76.178075; finalDepth = 74.918744; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.036693 # Actual altitude: 50.036693 # Commanded vehicle depth: 74.918744 # Seafloor depth: -124.918744 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 102.572651 meters # Minimum depth: 126.178075 meters looking forward 100.000000 meters along route # Maximum depth: 127.617362 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 76.178075 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.833031; longitude = -135.071652; duration = 410; initialDepth = 75.682366; finalDepth = 76.178075; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.439287 # Actual altitude: 51.439287 # Commanded vehicle depth: 76.178075 # Seafloor depth: -127.617362 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 104.531048 meters # Minimum depth: 125.682366 meters looking forward 100.000000 meters along route # Maximum depth: 126.520257 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 75.682366 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.833576; longitude = -135.069399; duration = 418; initialDepth = 74.801636; finalDepth = 75.682366; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.439287 # Actual altitude: 51.439287 # Commanded vehicle depth: 75.682366 # Seafloor depth: -126.231685 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 100.608798 meters # Minimum depth: 124.801636 meters looking forward 100.000000 meters along route # Maximum depth: 125.635557 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 74.801636 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.834132; longitude = -135.067102; duration = 402; initialDepth = 74.540692; finalDepth = 74.801636; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.833921 # Actual altitude: 50.833921 # Commanded vehicle depth: 74.801636 # Seafloor depth: -125.635557 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 102.567196 meters # Minimum depth: 124.540692 meters looking forward 100.000000 meters along route # Maximum depth: 125.353177 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 74.540692 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.834667; longitude = -135.064891; duration = 410; initialDepth = 74.890007; finalDepth = 74.540692; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.833921 # Actual altitude: 50.833921 # Commanded vehicle depth: 74.540692 # Seafloor depth: -124.779773 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 102.565378 meters # Minimum depth: 124.890007 meters looking forward 100.000000 meters along route # Maximum depth: 125.404643 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 74.890007 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.835213; longitude = -135.062638; duration = 410; initialDepth = 75.227082; finalDepth = 74.890007; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.514636 # Actual altitude: 50.514636 # Commanded vehicle depth: 74.890007 # Seafloor depth: -125.404643 # 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 48 # Segment length 103.939938 meters # Minimum depth: 125.227082 meters looking forward 100.000000 meters along route # Maximum depth: 126.569734 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 75.227082 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.835758; longitude = -135.060384; duration = 415; initialDepth = 76.303280; finalDepth = 75.227082; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.514636 # Actual altitude: 50.514636 # Commanded vehicle depth: 75.227082 # Seafloor depth: -125.385787 # 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 48 # Segment length 101.185364 meters # Minimum depth: 126.303280 meters looking forward 100.000000 meters along route # Maximum depth: 126.833718 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 76.303280 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.836311; longitude = -135.058100; duration = 404; initialDepth = 75.144121; finalDepth = 76.303280; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.297556 # Actual altitude: 50.297556 # Commanded vehicle depth: 76.30328 # Seafloor depth: -126.600836 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 102.559923 meters # Minimum depth: 125.144121 meters looking forward 100.000000 meters along route # Maximum depth: 126.463352 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 75.144121 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.836849; longitude = -135.055877; duration = 410; initialDepth = 74.593723; finalDepth = 75.144121; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.283695 # Actual altitude: 51.283695 # Commanded vehicle depth: 75.144121 # Seafloor depth: -126.427816 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 102.558106 meters # Minimum depth: 124.593723 meters looking forward 100.000000 meters along route # Maximum depth: 125.305692 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 74.593723 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.837395; longitude = -135.053623; duration = 410; initialDepth = 75.500793; finalDepth = 74.593723; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.283695 # Actual altitude: 51.283695 # Commanded vehicle depth: 74.593723 # Seafloor depth: -125.086875 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 103.348910 meters # Minimum depth: 125.500793 meters looking forward 100.000000 meters along route # Maximum depth: 131.377020 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 75.500793 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.837940; longitude = -135.051370; duration = 413; initialDepth = 81.410216; finalDepth = 75.500793; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.493152 # Actual altitude: 50.493152 # Commanded vehicle depth: 75.500793 # Seafloor depth: -125.500793 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 101.761848 meters # Minimum depth: 131.410216 meters looking forward 100.000000 meters along route # Maximum depth: 139.330419 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 81.410216 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.838490; longitude = -135.049099; duration = 407; initialDepth = 78.633989; finalDepth = 81.410216; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 81.410216 # Seafloor depth: -131.410216 # 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 48 # Segment length 102.552651 meters # Minimum depth: 128.633989 meters looking forward 100.000000 meters along route # Maximum depth: 140.950664 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 78.633989 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.839032; longitude = -135.046863; duration = 410; initialDepth = 78.390100; finalDepth = 78.633989; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.792493 # Actual altitude: 60.792493 # Commanded vehicle depth: 78.633989 # Seafloor depth: -139.426482 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 102.550834 meters # Minimum depth: 128.390100 meters looking forward 100.000000 meters along route # Maximum depth: 130.589961 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 78.390100 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.839577; longitude = -135.044609; duration = 410; initialDepth = 70.391032; finalDepth = 78.390100; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.792493 # Actual altitude: 60.792493 # Commanded vehicle depth: 78.3901 # Seafloor depth: -128.470656 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 102.757965 meters # Minimum depth: 120.391032 meters looking forward 100.000000 meters along route # Maximum depth: 128.018019 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 70.391032 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.840123; longitude = -135.042355; duration = 411; initialDepth = 69.214943; finalDepth = 70.391032; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.626987 # Actual altitude: 57.626987 # Commanded vehicle depth: 70.391032 # Seafloor depth: -128.018019 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 102.338250 meters # Minimum depth: 119.214943 meters looking forward 100.000000 meters along route # Maximum depth: 120.385379 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 69.214943 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.840669; longitude = -135.040097; duration = 409; initialDepth = 69.979829; finalDepth = 69.214943; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.626987 # Actual altitude: 57.626987 # Commanded vehicle depth: 69.214943 # Seafloor depth: -120.385379 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 102.545380 meters # Minimum depth: 119.979829 meters looking forward 100.000000 meters along route # Maximum depth: 121.096888 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 69.979829 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.841214; longitude = -135.037848; duration = 410; initialDepth = 70.147704; finalDepth = 69.979829; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.170436 # Actual altitude: 51.170436 # Commanded vehicle depth: 69.979829 # Seafloor depth: -119.979829 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 105.417742 meters # Minimum depth: 120.147704 meters looking forward 100.000000 meters along route # Maximum depth: 121.192393 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 70.147704 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.841759; longitude = -135.035595; duration = 421; initialDepth = 69.025978; finalDepth = 70.147704; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.013138 # Actual altitude: 51.013138 # Commanded vehicle depth: 70.147704 # Seafloor depth: -121.160842 # 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 48 # Segment length 103.924867 meters # Minimum depth: 119.025978 meters looking forward 100.000000 meters along route # Maximum depth: 120.202410 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 69.025978 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.842320; longitude = -135.033278; duration = 415; initialDepth = 69.039074; finalDepth = 69.025978; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.176432 # Actual altitude: 51.176432 # Commanded vehicle depth: 69.025978 # Seafloor depth: -120.202410 # 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; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 47 # Segment length 146.414272 meters # Minimum depth: 119.039074 meters looking forward 100.000000 meters along route # Maximum depth: 124.298428 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 69.039074 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.842873; longitude = -135.030994; duration = 585; # abortOnTimeout = True; initialDepth = 71.789067; finalDepth = 69.039074; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.176432 # Actual altitude: 51.176432 # Commanded vehicle depth: 69.039074 # Seafloor depth: -119.039074 # 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; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 46 # Segment length 158.615696 meters # Minimum depth: 121.789067 meters looking forward 100.000000 meters along route # Maximum depth: 125.105652 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 71.789067 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.843970; longitude = -135.033190; duration = 634; # abortOnTimeout = True; initialDepth = 67.981298; finalDepth = 71.789067; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.905648 # Actual altitude: 52.905648 # Commanded vehicle depth: 71.789067 # Seafloor depth: -124.694715 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 102.180424 meters # Minimum depth: 117.981298 meters looking forward 100.000000 meters along route # Maximum depth: 121.562852 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 67.981298 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.843123; longitude = -135.036669; duration = 408; initialDepth = 67.955335; finalDepth = 67.981298; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.581554 # Actual altitude: 53.581554 # Commanded vehicle depth: 67.981298 # Seafloor depth: -121.562852 # 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 46 # Segment length 103.840116 meters # Minimum depth: 117.955335 meters looking forward 100.000000 meters along route # Maximum depth: 121.652269 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 67.955335 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.842578; longitude = -135.038911; duration = 415; initialDepth = 68.322843; finalDepth = 67.955335; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.581554 # Actual altitude: 53.581554 # Commanded vehicle depth: 67.955335 # Seafloor depth: -117.955335 # 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 46 # Segment length 100.526148 meters # Minimum depth: 118.322843 meters looking forward 100.000000 meters along route # Maximum depth: 121.740658 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 68.322843 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.842023; longitude = -135.041188; duration = 402; initialDepth = 65.892101; finalDepth = 68.322843; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.364821 # Actual altitude: 53.364821 # Commanded vehicle depth: 68.322843 # Seafloor depth: -121.687664 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 102.185838 meters # Minimum depth: 115.892101 meters looking forward 100.000000 meters along route # Maximum depth: 132.689387 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.892101 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.841486; longitude = -135.043393; duration = 408; initialDepth = 82.680110; finalDepth = 65.892101; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.364821 # Actual altitude: 53.364821 # Commanded vehicle depth: 65.892101 # Seafloor depth: -118.233352 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 102.187643 meters # Minimum depth: 132.680110 meters looking forward 100.000000 meters along route # Maximum depth: 140.969254 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 82.680110 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.840941; longitude = -135.045635; duration = 408; initialDepth = 83.860203; finalDepth = 82.680110; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.341251 # Actual altitude: 52.341251 # Commanded vehicle depth: 82.68011 # Seafloor depth: -132.936589 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 102.189447 meters # Minimum depth: 133.860203 meters looking forward 100.000000 meters along route # Maximum depth: 137.821439 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 83.860203 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.840395; longitude = -135.047876; duration = 408; initialDepth = 75.890348; finalDepth = 83.860203; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.163748 # Actual altitude: 52.163748 # Commanded vehicle depth: 83.860203 # Seafloor depth: -136.023951 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 102.798753 meters # Minimum depth: 125.890348 meters looking forward 100.000000 meters along route # Maximum depth: 136.944658 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 75.890348 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.839850; longitude = -135.050117; duration = 411; initialDepth = 74.029405; finalDepth = 75.890348; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.05431 # Actual altitude: 61.05431 # Commanded vehicle depth: 75.890348 # Seafloor depth: -136.944658 # 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 46 # Segment length 101.585555 meters # Minimum depth: 124.029405 meters looking forward 100.000000 meters along route # Maximum depth: 125.828426 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 74.029405 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.839301; longitude = -135.052372; duration = 406; initialDepth = 74.140174; finalDepth = 74.029405; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.05431 # Actual altitude: 61.05431 # Commanded vehicle depth: 74.029405 # Seafloor depth: -125.828426 # 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 46 # Segment length 102.194862 meters # Minimum depth: 124.140174 meters looking forward 100.000000 meters along route # Maximum depth: 125.039291 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 74.140174 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.838759; longitude = -135.054600; duration = 408; initialDepth = 74.105600; finalDepth = 74.140174; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.799021 # Actual altitude: 51.799021 # Commanded vehicle depth: 74.140174 # Seafloor depth: -124.225686 # 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 46 # Segment length 102.196665 meters # Minimum depth: 124.105600 meters looking forward 100.000000 meters along route # Maximum depth: 125.301924 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 74.105600 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.838213; longitude = -135.056841; duration = 408; initialDepth = 74.814778; finalDepth = 74.105600; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.085512 # Actual altitude: 50.085512 # Commanded vehicle depth: 74.1056 # Seafloor depth: -124.105600 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 102.198471 meters # Minimum depth: 124.814778 meters looking forward 100.000000 meters along route # Maximum depth: 126.967760 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 74.814778 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.837668; longitude = -135.059083; duration = 408; initialDepth = 77.247588; finalDepth = 74.814778; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.084153 # Actual altitude: 50.084153 # Commanded vehicle depth: 74.814778 # Seafloor depth: -124.898931 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 102.200275 meters # Minimum depth: 127.247588 meters looking forward 100.000000 meters along route # Maximum depth: 128.421487 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 77.247588 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.837122; longitude = -135.061324; duration = 408; initialDepth = 77.436377; finalDepth = 77.247588; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.084153 # Actual altitude: 50.084153 # Commanded vehicle depth: 77.247588 # Seafloor depth: -127.247588 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 102.202080 meters # Minimum depth: 127.436377 meters looking forward 100.000000 meters along route # Maximum depth: 127.932394 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 77.436377 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.836577; longitude = -135.063566; duration = 408; initialDepth = 77.889843; finalDepth = 77.436377; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 77.436377 # Seafloor depth: -127.436377 # 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 46 # Segment length 102.203885 meters # Minimum depth: 127.889843 meters looking forward 100.000000 meters along route # Maximum depth: 129.454453 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 77.889843 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.836031; longitude = -135.065807; duration = 408; initialDepth = 79.619810; finalDepth = 77.889843; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 77.889843 # Seafloor depth: -127.889843 # 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 46 # Segment length 102.205689 meters # Minimum depth: 129.619810 meters looking forward 100.000000 meters along route # Maximum depth: 131.316564 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 79.619810 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.835485; longitude = -135.068048; duration = 408; initialDepth = 81.093147; finalDepth = 79.619810; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 79.61981 # Seafloor depth: -129.619810 # 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 46 # Segment length 103.411597 meters # Minimum depth: 131.093147 meters looking forward 100.000000 meters along route # Maximum depth: 133.919462 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 81.093147 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.834940; longitude = -135.070290; duration = 413; initialDepth = 74.541868; finalDepth = 81.093147; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.128748 # Actual altitude: 50.128748 # Commanded vehicle depth: 81.093147 # Seafloor depth: -131.221895 # 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 during line 46 # Segment length 101.005197 meters # Minimum depth: 124.541868 meters looking forward 100.000000 meters along route # Maximum depth: 133.977934 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 74.541868 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.834388; longitude = -135.072557; duration = 404; initialDepth = 74.516426; finalDepth = 74.541868; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.436066 # Actual altitude: 59.436066 # Commanded vehicle depth: 74.541868 # Seafloor depth: -133.977934 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 102.211104 meters # Minimum depth: 124.516426 meters looking forward 100.000000 meters along route # Maximum depth: 129.343211 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 74.516426 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.833849; longitude = -135.074772; duration = 408; initialDepth = 76.747366; finalDepth = 74.516426; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.436066 # Actual altitude: 59.436066 # Commanded vehicle depth: 74.516426 # Seafloor depth: -124.516426 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 102.212908 meters # Minimum depth: 126.747366 meters looking forward 100.000000 meters along route # Maximum depth: 129.217134 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 76.747366 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.833303; longitude = -135.077014; duration = 408; initialDepth = 68.175437; finalDepth = 76.747366; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.469768 # Actual altitude: 52.469768 # Commanded vehicle depth: 76.747366 # Seafloor depth: -129.217134 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 102.214714 meters # Minimum depth: 118.175437 meters looking forward 100.000000 meters along route # Maximum depth: 127.466604 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 68.175437 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.832758; longitude = -135.079255; duration = 408; initialDepth = 67.405132; finalDepth = 68.175437; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.305618 # Actual altitude: 58.305618 # Commanded vehicle depth: 68.175437 # Seafloor depth: -126.481055 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 102.369936 meters # Minimum depth: 117.405132 meters looking forward 100.000000 meters along route # Maximum depth: 126.877015 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 67.405132 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.832212; longitude = -135.081496; duration = 409; initialDepth = 76.883918; finalDepth = 67.405132; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.305618 # Actual altitude: 58.305618 # Commanded vehicle depth: 67.405132 # Seafloor depth: -117.659385 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 102.064907 meters # Minimum depth: 126.883918 meters looking forward 100.000000 meters along route # Maximum depth: 128.309614 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 76.883918 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.831666; longitude = -135.083741; duration = 408; initialDepth = 78.204159; finalDepth = 76.883918; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.254253 # Actual altitude: 50.254253 # Commanded vehicle depth: 76.883918 # Seafloor depth: -126.883918 # 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 46 # Segment length 102.220129 meters # Minimum depth: 128.204159 meters looking forward 100.000000 meters along route # Maximum depth: 129.778240 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 78.204159 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.831121; longitude = -135.085979; duration = 408; initialDepth = 78.253605; finalDepth = 78.204159; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 78.204159 # Seafloor depth: -128.204159 # 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 46 # Segment length 102.221934 meters # Minimum depth: 128.253605 meters looking forward 100.000000 meters along route # Maximum depth: 130.073496 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 78.253605 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.830576; longitude = -135.088220; duration = 408; initialDepth = 80.314801; finalDepth = 78.253605; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.572049 # Actual altitude: 50.572049 # Commanded vehicle depth: 78.253605 # Seafloor depth: -128.825654 # 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 46 # Segment length 104.024632 meters # Minimum depth: 130.314801 meters looking forward 100.000000 meters along route # Maximum depth: 131.645667 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 80.314801 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.830030; longitude = -135.090462; duration = 416; initialDepth = 81.539970; finalDepth = 80.314801; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.572049 # Actual altitude: 50.572049 # Commanded vehicle depth: 80.314801 # Seafloor depth: -130.314801 # 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 46 # Segment length 100.424651 meters # Minimum depth: 131.539970 meters looking forward 100.000000 meters along route # Maximum depth: 132.841456 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 81.539970 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.829475; longitude = -135.092743; duration = 401; initialDepth = 80.603155; finalDepth = 81.539970; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.079638 # Actual altitude: 50.079638 # Commanded vehicle depth: 81.53997 # Seafloor depth: -131.619608 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 102.227349 meters # Minimum depth: 130.603155 meters looking forward 100.000000 meters along route # Maximum depth: 132.849340 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 80.603155 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.828939; longitude = -135.094944; duration = 408; initialDepth = 80.501556; finalDepth = 80.603155; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.246185 # Actual altitude: 52.246185 # Commanded vehicle depth: 80.603155 # Seafloor depth: -132.849340 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 102.229154 meters # Minimum depth: 130.501556 meters looking forward 100.000000 meters along route # Maximum depth: 131.394647 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 80.501556 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.828393; longitude = -135.097186; duration = 408; initialDepth = 80.855370; finalDepth = 80.501556; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.246185 # Actual altitude: 52.246185 # Commanded vehicle depth: 80.501556 # Seafloor depth: -130.539112 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 102.230960 meters # Minimum depth: 130.855370 meters looking forward 100.000000 meters along route # Maximum depth: 131.520706 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 80.855370 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.827848; longitude = -135.099427; duration = 408; initialDepth = 80.571613; finalDepth = 80.855370; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.464993 # Actual altitude: 50.464993 # Commanded vehicle depth: 80.85537 # Seafloor depth: -131.320363 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 102.982858 meters # Minimum depth: 130.571613 meters looking forward 100.000000 meters along route # Maximum depth: 131.803427 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 80.571613 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.827302; longitude = -135.101668; duration = 411; initialDepth = 79.909475; finalDepth = 80.571613; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.464993 # Actual altitude: 50.464993 # Commanded vehicle depth: 80.571613 # Seafloor depth: -130.571613 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 101.484477 meters # Minimum depth: 129.909475 meters looking forward 100.000000 meters along route # Maximum depth: 131.893680 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 79.909475 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.826753; longitude = -135.103926; duration = 405; initialDepth = 77.497915; finalDepth = 79.909475; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.906631 # Actual altitude: 51.906631 # Commanded vehicle depth: 79.909475 # Seafloor depth: -131.816106 # 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 46 # Segment length 102.236375 meters # Minimum depth: 127.497915 meters looking forward 100.000000 meters along route # Maximum depth: 129.840439 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 77.497915 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.826211; longitude = -135.106151; duration = 408; initialDepth = 74.081579; finalDepth = 77.497915; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.342524 # Actual altitude: 52.342524 # Commanded vehicle depth: 77.497915 # Seafloor depth: -129.840439 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 102.238181 meters # Minimum depth: 124.081579 meters looking forward 100.000000 meters along route # Maximum depth: 127.344111 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 74.081579 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.825666; longitude = -135.108393; duration = 408; initialDepth = 70.241885; finalDepth = 74.081579; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.262532 # Actual altitude: 53.262532 # Commanded vehicle depth: 74.081579 # Seafloor depth: -127.344111 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 102.239986 meters # Minimum depth: 120.241885 meters looking forward 100.000000 meters along route # Maximum depth: 123.759902 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 70.241885 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.825120; longitude = -135.110634; duration = 408; initialDepth = 67.374487; finalDepth = 70.241885; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.518017 # Actual altitude: 53.518017 # Commanded vehicle depth: 70.241885 # Seafloor depth: -123.759902 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 102.241791 meters # Minimum depth: 117.374487 meters looking forward 100.000000 meters along route # Maximum depth: 119.547052 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 67.374487 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.824575; longitude = -135.112875; duration = 408; initialDepth = 68.370873; finalDepth = 67.374487; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.518017 # Actual altitude: 53.518017 # Commanded vehicle depth: 67.374487 # Seafloor depth: -119.547052 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 102.243597 meters # Minimum depth: 118.370873 meters looking forward 100.000000 meters along route # Maximum depth: 122.424479 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 68.370873 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.824029; longitude = -135.115117; duration = 408; initialDepth = 72.185700; finalDepth = 68.370873; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.172565 # Actual altitude: 52.172565 # Commanded vehicle depth: 68.370873 # Seafloor depth: -118.370873 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 108.990123 meters # Minimum depth: 122.185700 meters looking forward 100.000000 meters along route # Maximum depth: 128.563392 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 72.185700 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.823483; longitude = -135.117358; duration = 435; initialDepth = 78.454557; finalDepth = 72.185700; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.048606 # Actual altitude: 50.048606 # Commanded vehicle depth: 72.1857 # Seafloor depth: -122.234306 # 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 46 # Segment length 111.992041 meters # Minimum depth: 128.454557 meters looking forward 100.000000 meters along route # Maximum depth: 130.735812 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 78.454557 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.822902; longitude = -135.119747; duration = 447; initialDepth = 79.256559; finalDepth = 78.454557; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.08469 # Actual altitude: 50.08469 # Commanded vehicle depth: 78.454557 # Seafloor depth: -128.539247 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 111.994207 meters # Minimum depth: 129.256559 meters looking forward 100.000000 meters along route # Maximum depth: 131.832496 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 79.256559 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.822304; longitude = -135.122202; duration = 447; initialDepth = 77.725951; finalDepth = 79.256559; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.64021 # Actual altitude: 50.64021 # Commanded vehicle depth: 79.256559 # Seafloor depth: -129.896769 # 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 46 # Segment length 103.053716 meters # Minimum depth: 127.725951 meters looking forward 100.000000 meters along route # Maximum depth: 131.876081 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 77.725951 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.821707; longitude = -135.124657; duration = 412; initialDepth = 81.164913; finalDepth = 77.725951; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.15013 # Actual altitude: 54.15013 # Commanded vehicle depth: 77.725951 # Seafloor depth: -131.876081 # 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; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 45 # Segment length 149.972755 meters # Minimum depth: 131.164913 meters looking forward 100.000000 meters along route # Maximum depth: 137.614228 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 81.164913 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.821157; longitude = -135.126916; duration = 599; # abortOnTimeout = True; initialDepth = 85.971905; finalDepth = 81.164913; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.15013 # Actual altitude: 54.15013 # Commanded vehicle depth: 81.164913 # Seafloor depth: -131.164913 # 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; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 44 # Segment length 80.238535 meters # Minimum depth: 135.971905 meters looking forward 100.000000 meters along route # Maximum depth: 138.020203 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 85.971905 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.822237; longitude = -135.129353; duration = 320; # abortOnTimeout = True; initialDepth = 72.567265; finalDepth = 85.971905; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.048298 # Actual altitude: 52.048298 # Commanded vehicle depth: 85.971905 # Seafloor depth: -138.020203 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 102.244822 meters # Minimum depth: 122.567265 meters looking forward 100.000000 meters along route # Maximum depth: 135.789585 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 72.567265 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.822665; longitude = -135.127594; duration = 408; initialDepth = 72.533738; finalDepth = 72.567265; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.22232 # Actual altitude: 63.22232 # Commanded vehicle depth: 72.567265 # Seafloor depth: -135.789585 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 102.243017 meters # Minimum depth: 122.533738 meters looking forward 100.000000 meters along route # Maximum depth: 132.538861 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 72.533738 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.823211; longitude = -135.125353; duration = 408; initialDepth = 78.943459; finalDepth = 72.533738; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.22232 # Actual altitude: 63.22232 # Commanded vehicle depth: 72.533738 # Seafloor depth: -122.533738 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 103.700674 meters # Minimum depth: 128.943459 meters looking forward 100.000000 meters along route # Maximum depth: 132.236148 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 78.943459 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.823756; longitude = -135.123112; duration = 414; initialDepth = 76.075946; finalDepth = 78.943459; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.292689 # Actual altitude: 53.292689 # Commanded vehicle depth: 78.943459 # Seafloor depth: -132.236148 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 100.779943 meters # Minimum depth: 126.075946 meters looking forward 100.000000 meters along route # Maximum depth: 128.820244 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 76.075946 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.824310; longitude = -135.120838; duration = 403; initialDepth = 76.725862; finalDepth = 76.075946; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.292689 # Actual altitude: 53.292689 # Commanded vehicle depth: 76.075946 # Seafloor depth: -128.820244 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 102.237601 meters # Minimum depth: 126.725862 meters looking forward 100.000000 meters along route # Maximum depth: 128.096296 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 76.725862 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.824847; longitude = -135.118629; duration = 408; initialDepth = 74.826723; finalDepth = 76.725862; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.744298 # Actual altitude: 52.744298 # Commanded vehicle depth: 76.725862 # Seafloor depth: -126.779673 # 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 44 # Segment length 102.235795 meters # Minimum depth: 124.826723 meters looking forward 100.000000 meters along route # Maximum depth: 127.423314 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 74.826723 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.825393; longitude = -135.116388; duration = 408; initialDepth = 74.390335; finalDepth = 74.826723; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.820955 # Actual altitude: 51.820955 # Commanded vehicle depth: 74.826723 # Seafloor depth: -126.647678 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 102.233990 meters # Minimum depth: 124.390335 meters looking forward 100.000000 meters along route # Maximum depth: 130.515623 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 74.390335 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.825938; longitude = -135.114146; duration = 408; initialDepth = 76.304242; finalDepth = 74.390335; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.820955 # Actual altitude: 51.820955 # Commanded vehicle depth: 74.390335 # Seafloor depth: -124.553028 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 102.652060 meters # Minimum depth: 126.304242 meters looking forward 100.000000 meters along route # Maximum depth: 131.388724 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 76.304242 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.826484; longitude = -135.111905; duration = 410; initialDepth = 76.393541; finalDepth = 76.304242; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.809809 # Actual altitude: 54.809809 # Commanded vehicle depth: 76.304242 # Seafloor depth: -131.114051 # 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 44 # Segment length 101.810504 meters # Minimum depth: 126.393541 meters looking forward 100.000000 meters along route # Maximum depth: 131.125216 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 76.393541 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.827032; longitude = -135.109655; duration = 407; initialDepth = 78.916814; finalDepth = 76.393541; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.809809 # Actual altitude: 54.809809 # Commanded vehicle depth: 76.393541 # Seafloor depth: -126.393541 # 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 44 # Segment length 102.228575 meters # Minimum depth: 128.916814 meters looking forward 100.000000 meters along route # Maximum depth: 131.885691 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 78.916814 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.827575; longitude = -135.107422; duration = 408; initialDepth = 81.036035; finalDepth = 78.916814; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 78.916814 # Seafloor depth: -128.916814 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 102.226769 meters # Minimum depth: 131.036035 meters looking forward 100.000000 meters along route # Maximum depth: 132.763403 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 81.036035 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.828121; longitude = -135.105181; duration = 408; initialDepth = 81.039035; finalDepth = 81.036035; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.545327 # Actual altitude: 50.545327 # Commanded vehicle depth: 81.036035 # Seafloor depth: -131.581362 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 104.301500 meters # Minimum depth: 131.039035 meters looking forward 100.000000 meters along route # Maximum depth: 134.221101 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 81.039035 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.828666; longitude = -135.102940; duration = 417; initialDepth = 82.504686; finalDepth = 81.039035; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.741814 # Actual altitude: 50.741814 # Commanded vehicle depth: 81.039035 # Seafloor depth: -131.780849 # 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 44 # Segment length 100.146623 meters # Minimum depth: 132.504686 meters looking forward 100.000000 meters along route # Maximum depth: 134.240257 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 82.504686 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.829223; longitude = -135.100653; duration = 400; initialDepth = 83.217638; finalDepth = 82.504686; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.735571 # Actual altitude: 51.735571 # Commanded vehicle depth: 82.504686 # Seafloor depth: -134.240257 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 102.221353 meters # Minimum depth: 133.217638 meters looking forward 100.000000 meters along route # Maximum depth: 134.404977 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 83.217638 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.829757; longitude = -135.098457; duration = 408; initialDepth = 83.583189; finalDepth = 83.217638; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.735571 # Actual altitude: 51.735571 # Commanded vehicle depth: 83.217638 # Seafloor depth: -133.217638 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 102.219549 meters # Minimum depth: 133.583189 meters looking forward 100.000000 meters along route # Maximum depth: 134.752695 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 83.583189 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.830303; longitude = -135.096216; duration = 408; initialDepth = 81.827116; finalDepth = 83.583189; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 83.583189 # Seafloor depth: -133.583189 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 102.217744 meters # Minimum depth: 131.827116 meters looking forward 100.000000 meters along route # Maximum depth: 133.505494 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 81.827116 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.830848; longitude = -135.093975; duration = 408; initialDepth = 82.491757; finalDepth = 81.827116; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.678378 # Actual altitude: 51.678378 # Commanded vehicle depth: 81.827116 # Seafloor depth: -133.505494 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 103.252998 meters # Minimum depth: 132.491757 meters looking forward 100.000000 meters along route # Maximum depth: 135.451727 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 82.491757 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.831394; longitude = -135.091733; duration = 413; initialDepth = 83.222937; finalDepth = 82.491757; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.678378 # Actual altitude: 51.678378 # Commanded vehicle depth: 82.491757 # Seafloor depth: -132.491757 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 101.177074 meters # Minimum depth: 133.222937 meters looking forward 100.000000 meters along route # Maximum depth: 135.125590 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 83.222937 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.831945; longitude = -135.089469; duration = 404; initialDepth = 80.406684; finalDepth = 83.222937; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.902653 # Actual altitude: 51.902653 # Commanded vehicle depth: 83.222937 # Seafloor depth: -135.125590 # 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 44 # Segment length 102.212329 meters # Minimum depth: 130.406684 meters looking forward 100.000000 meters along route # Maximum depth: 134.729681 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 80.406684 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.832485; longitude = -135.087251; duration = 408; initialDepth = 75.125409; finalDepth = 80.406684; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.39014 # Actual altitude: 53.39014 # Commanded vehicle depth: 80.406684 # Seafloor depth: -133.796824 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 102.210524 meters # Minimum depth: 125.125409 meters looking forward 100.000000 meters along route # Maximum depth: 129.947376 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 75.125409 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.833031; longitude = -135.085009; duration = 408; initialDepth = 79.164068; finalDepth = 75.125409; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.821967 # Actual altitude: 54.821967 # Commanded vehicle depth: 75.125409 # Seafloor depth: -129.947376 # 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 44 # Segment length 102.208719 meters # Minimum depth: 129.164068 meters looking forward 100.000000 meters along route # Maximum depth: 132.952731 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 79.164068 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.833576; longitude = -135.082768; duration = 408; initialDepth = 82.339044; finalDepth = 79.164068; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.821967 # Actual altitude: 54.821967 # Commanded vehicle depth: 79.164068 # Seafloor depth: -129.164068 # 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 44 # Segment length 102.206914 meters # Minimum depth: 132.339044 meters looking forward 100.000000 meters along route # Maximum depth: 142.627577 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 82.339044 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.834122; longitude = -135.080527; duration = 408; initialDepth = 82.172044; finalDepth = 82.339044; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.112992 # Actual altitude: 50.112992 # Commanded vehicle depth: 82.339044 # Seafloor depth: -132.452036 # 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 44 # Segment length 102.205109 meters # Minimum depth: 132.172044 meters looking forward 100.000000 meters along route # Maximum depth: 141.507794 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 82.172044 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.834667; longitude = -135.078286; duration = 408; initialDepth = 82.082278; finalDepth = 82.172044; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.33575 # Actual altitude: 59.33575 # Commanded vehicle depth: 82.172044 # Seafloor depth: -141.507794 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 102.203304 meters # Minimum depth: 132.082278 meters looking forward 100.000000 meters along route # Maximum depth: 133.417334 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 82.082278 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.835213; longitude = -135.076044; duration = 408; initialDepth = 83.507634; finalDepth = 82.082278; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.33575 # Actual altitude: 59.33575 # Commanded vehicle depth: 82.082278 # Seafloor depth: -132.082278 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 102.201500 meters # Minimum depth: 133.507634 meters looking forward 100.000000 meters along route # Maximum depth: 135.024293 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 83.507634 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.835758; longitude = -135.073803; duration = 408; initialDepth = 81.933337; finalDepth = 83.507634; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 83.507634 # Seafloor depth: -133.507634 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 103.853743 meters # Minimum depth: 131.933337 meters looking forward 100.000000 meters along route # Maximum depth: 134.409314 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 81.933337 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.836304; longitude = -135.071562; duration = 415; initialDepth = 79.257779; finalDepth = 81.933337; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.475977 # Actual altitude: 52.475977 # Commanded vehicle depth: 81.933337 # Seafloor depth: -134.409314 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 100.543842 meters # Minimum depth: 129.257779 meters looking forward 100.000000 meters along route # Maximum depth: 131.901036 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 79.257779 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.836858; longitude = -135.069284; duration = 402; initialDepth = 79.915570; finalDepth = 79.257779; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.643257 # Actual altitude: 52.643257 # Commanded vehicle depth: 79.257779 # Seafloor depth: -131.901036 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 102.196086 meters # Minimum depth: 129.915570 meters looking forward 100.000000 meters along route # Maximum depth: 132.200412 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 79.915570 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.837395; longitude = -135.067079; duration = 408; initialDepth = 80.464215; finalDepth = 79.915570; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.643257 # Actual altitude: 52.643257 # Commanded vehicle depth: 79.91557 # Seafloor depth: -129.915570 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 102.194280 meters # Minimum depth: 130.464215 meters looking forward 100.000000 meters along route # Maximum depth: 131.276726 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 80.464215 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.837940; longitude = -135.064838; duration = 408; initialDepth = 80.747909; finalDepth = 80.464215; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.654159 # Actual altitude: 50.654159 # Commanded vehicle depth: 80.464215 # Seafloor depth: -131.118374 # 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 44 # Segment length 102.192477 meters # Minimum depth: 130.747909 meters looking forward 100.000000 meters along route # Maximum depth: 132.649936 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 80.747909 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.838486; longitude = -135.062596; duration = 408; initialDepth = 77.815869; finalDepth = 80.747909; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.654159 # Actual altitude: 50.654159 # Commanded vehicle depth: 80.747909 # Seafloor depth: -131.370918 # 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 44 # Segment length 102.805536 meters # Minimum depth: 127.815869 meters looking forward 100.000000 meters along route # Maximum depth: 130.195222 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 77.815869 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.839032; longitude = -135.060355; duration = 411; initialDepth = 75.257431; finalDepth = 77.815869; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.379353 # Actual altitude: 52.379353 # Commanded vehicle depth: 77.815869 # Seafloor depth: -130.195222 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 101.574002 meters # Minimum depth: 125.257431 meters looking forward 100.000000 meters along route # Maximum depth: 127.795737 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 75.257431 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.839580; longitude = -135.058100; duration = 406; initialDepth = 75.017997; finalDepth = 75.257431; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.538306 # Actual altitude: 52.538306 # Commanded vehicle depth: 75.257431 # Seafloor depth: -127.795737 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 102.187063 meters # Minimum depth: 125.017997 meters looking forward 100.000000 meters along route # Maximum depth: 125.277028 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 75.017997 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.840123; longitude = -135.055873; duration = 408; initialDepth = 74.861375; finalDepth = 75.017997; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.538306 # Actual altitude: 52.538306 # Commanded vehicle depth: 75.017997 # Seafloor depth: -125.228083 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 102.185258 meters # Minimum depth: 124.861375 meters looking forward 100.000000 meters along route # Maximum depth: 127.098500 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 74.861375 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.840668; longitude = -135.053631; duration = 408; initialDepth = 77.358074; finalDepth = 74.861375; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.247573 # Actual altitude: 50.247573 # Commanded vehicle depth: 74.861375 # Seafloor depth: -125.108948 # 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 44 # Segment length 102.183453 meters # Minimum depth: 127.358074 meters looking forward 100.000000 meters along route # Maximum depth: 129.137490 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 77.358074 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.841214; longitude = -135.051390; duration = 408; initialDepth = 75.781066; finalDepth = 77.358074; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.247573 # Actual altitude: 50.247573 # Commanded vehicle depth: 77.358074 # Seafloor depth: -127.358074 # 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 44 # Segment length 102.181649 meters # Minimum depth: 125.781066 meters looking forward 100.000000 meters along route # Maximum depth: 127.908486 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 75.781066 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.841759; longitude = -135.049149; duration = 408; initialDepth = 75.777986; finalDepth = 75.781066; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.12742 # Actual altitude: 52.12742 # Commanded vehicle depth: 75.781066 # Seafloor depth: -127.908486 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 102.179845 meters # Minimum depth: 125.777986 meters looking forward 100.000000 meters along route # Maximum depth: 130.541158 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 75.777986 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.842305; longitude = -135.046907; duration = 408; initialDepth = 80.858520; finalDepth = 75.777986; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.12742 # Actual altitude: 52.12742 # Commanded vehicle depth: 75.777986 # Seafloor depth: -125.777986 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 102.178040 meters # Minimum depth: 130.858520 meters looking forward 100.000000 meters along route # Maximum depth: 135.386885 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 80.858520 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.842850; longitude = -135.044666; duration = 408; initialDepth = 82.062382; finalDepth = 80.858520; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 80.85852 # Seafloor depth: -130.858520 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 102.176235 meters # Minimum depth: 132.062382 meters looking forward 100.000000 meters along route # Maximum depth: 134.637061 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 82.062382 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.843396; longitude = -135.042425; duration = 408; initialDepth = 79.417057; finalDepth = 82.062382; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.574679 # Actual altitude: 52.574679 # Commanded vehicle depth: 82.062382 # Seafloor depth: -134.637061 # 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 44 # Segment length 103.406199 meters # Minimum depth: 129.417057 meters looking forward 100.000000 meters along route # Maximum depth: 142.559226 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 79.417057 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.843941; longitude = -135.040183; duration = 413; initialDepth = 93.033313; finalDepth = 79.417057; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.574679 # Actual altitude: 52.574679 # Commanded vehicle depth: 79.417057 # Seafloor depth: -131.824943 # 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 44 # Segment length 104.398704 meters # Minimum depth: 143.033313 meters looking forward 100.000000 meters along route # Maximum depth: 154.361282 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 93.033313 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.844494; longitude = -135.037915; duration = 417; initialDepth = 94.013905; finalDepth = 93.033313; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.407886 # Actual altitude: 52.407886 # Commanded vehicle depth: 93.033313 # Seafloor depth: -143.033313 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 43 # Segment length 150.066715 meters # Minimum depth: 144.013905 meters looking forward 100.000000 meters along route # Maximum depth: 150.155710 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 94.013905 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.845051; longitude = -135.035625; duration = 600; # abortOnTimeout = True; initialDepth = 82.155784; finalDepth = 94.013905; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.790702 # Actual altitude: 54.790702 # Commanded vehicle depth: 94.013905 # Seafloor depth: -148.804607 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 42 # Segment length 155.003373 meters # Minimum depth: 132.155784 meters looking forward 100.000000 meters along route # Maximum depth: 142.828498 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 82.155784 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.846133; longitude = -135.038061; duration = 620; # abortOnTimeout = True; initialDepth = 80.613827; finalDepth = 82.155784; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.757123 # Actual altitude: 59.757123 # Commanded vehicle depth: 82.155784 # Seafloor depth: -141.912907 # 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 42 # Segment length 102.168056 meters # Minimum depth: 130.613827 meters looking forward 100.000000 meters along route # Maximum depth: 132.424747 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 80.613827 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.845305; longitude = -135.041461; duration = 408; initialDepth = 78.612818; finalDepth = 80.613827; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.757123 # Actual altitude: 59.757123 # Commanded vehicle depth: 80.613827 # Seafloor depth: -132.155716 # 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 42 # Segment length 102.169860 meters # Minimum depth: 128.612818 meters looking forward 100.000000 meters along route # Maximum depth: 131.327068 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 78.612818 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.844760; longitude = -135.043702; duration = 408; initialDepth = 77.673148; finalDepth = 78.612818; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.368442 # Actual altitude: 52.368442 # Commanded vehicle depth: 78.612818 # Seafloor depth: -130.981260 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 102.171665 meters # Minimum depth: 127.673148 meters looking forward 100.000000 meters along route # Maximum depth: 128.762189 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 77.673148 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.844214; longitude = -135.045944; duration = 408; initialDepth = 75.951610; finalDepth = 77.673148; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.368442 # Actual altitude: 52.368442 # Commanded vehicle depth: 77.673148 # Seafloor depth: -128.696242 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 103.849095 meters # Minimum depth: 125.951610 meters looking forward 100.000000 meters along route # Maximum depth: 127.952604 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 75.951610 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.843669; longitude = -135.048185; duration = 415; initialDepth = 78.002023; finalDepth = 75.951610; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.657932 # Actual altitude: 51.657932 # Commanded vehicle depth: 75.95161 # Seafloor depth: -127.609542 # 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 42 # Segment length 100.499647 meters # Minimum depth: 128.002023 meters looking forward 100.000000 meters along route # Maximum depth: 132.457097 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 78.002023 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.843114; longitude = -135.050463; duration = 401; initialDepth = 81.175093; finalDepth = 78.002023; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.657932 # Actual altitude: 51.657932 # Commanded vehicle depth: 78.002023 # Seafloor depth: -128.002023 # 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 42 # Segment length 102.177078 meters # Minimum depth: 131.175093 meters looking forward 100.000000 meters along route # Maximum depth: 134.163812 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 81.175093 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.842578; longitude = -135.052667; duration = 408; initialDepth = 84.398046; finalDepth = 81.175093; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 81.175093 # Seafloor depth: -131.175093 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 102.178881 meters # Minimum depth: 134.398046 meters looking forward 100.000000 meters along route # Maximum depth: 141.052603 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 84.398046 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.842032; longitude = -135.054908; duration = 408; initialDepth = 80.150647; finalDepth = 84.398046; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 84.398046 # Seafloor depth: -134.398046 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 102.180687 meters # Minimum depth: 130.150647 meters looking forward 100.000000 meters along route # Maximum depth: 134.212052 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 80.150647 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.841486; longitude = -135.057149; duration = 408; initialDepth = 80.131510; finalDepth = 80.150647; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.061405 # Actual altitude: 54.061405 # Commanded vehicle depth: 80.150647 # Seafloor depth: -134.212052 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 102.847671 meters # Minimum depth: 130.131510 meters looking forward 100.000000 meters along route # Maximum depth: 137.114382 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 80.131510 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.840941; longitude = -135.059391; duration = 411; initialDepth = 83.817386; finalDepth = 80.131510; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.061405 # Actual altitude: 54.061405 # Commanded vehicle depth: 80.13151 # Seafloor depth: -130.131510 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 101.519115 meters # Minimum depth: 133.817386 meters looking forward 100.000000 meters along route # Maximum depth: 148.539423 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 83.817386 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.840392; longitude = -135.061646; duration = 406; initialDepth = 83.964774; finalDepth = 83.817386; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.401788 # Actual altitude: 53.401788 # Commanded vehicle depth: 83.817386 # Seafloor depth: -137.219174 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 102.186099 meters # Minimum depth: 133.964774 meters looking forward 100.000000 meters along route # Maximum depth: 138.567986 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 83.964774 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.839850; longitude = -135.063873; duration = 408; initialDepth = 83.489712; finalDepth = 83.964774; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.401788 # Actual altitude: 53.401788 # Commanded vehicle depth: 83.964774 # Seafloor depth: -133.964774 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 102.187905 meters # Minimum depth: 133.489712 meters looking forward 100.000000 meters along route # Maximum depth: 136.827650 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 83.489712 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.839304; longitude = -135.066114; duration = 408; initialDepth = 83.132709; finalDepth = 83.489712; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.321439 # Actual altitude: 53.321439 # Commanded vehicle depth: 83.489712 # Seafloor depth: -136.811151 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 102.189708 meters # Minimum depth: 133.132709 meters looking forward 100.000000 meters along route # Maximum depth: 136.252387 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 83.132709 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.838759; longitude = -135.068355; duration = 408; initialDepth = 81.977886; finalDepth = 83.132709; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.321439 # Actual altitude: 53.321439 # Commanded vehicle depth: 83.132709 # Seafloor depth: -133.158387 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 102.191514 meters # Minimum depth: 131.977886 meters looking forward 100.000000 meters along route # Maximum depth: 136.881684 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 81.977886 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.838213; longitude = -135.070597; duration = 408; initialDepth = 86.925186; finalDepth = 81.977886; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.904679 # Actual altitude: 53.904679 # Commanded vehicle depth: 81.977886 # Seafloor depth: -135.882565 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 102.193317 meters # Minimum depth: 136.925186 meters looking forward 100.000000 meters along route # Maximum depth: 143.876141 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 86.925186 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.837668; longitude = -135.072838; duration = 408; initialDepth = 88.736868; finalDepth = 86.925186; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.904679 # Actual altitude: 53.904679 # Commanded vehicle depth: 86.925186 # Seafloor depth: -136.925186 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 102.195123 meters # Minimum depth: 138.736868 meters looking forward 100.000000 meters along route # Maximum depth: 141.184954 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 88.736868 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.837122; longitude = -135.075079; duration = 408; initialDepth = 89.607396; finalDepth = 88.736868; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.448086 # Actual altitude: 52.448086 # Commanded vehicle depth: 88.736868 # Seafloor depth: -141.184954 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 102.196927 meters # Minimum depth: 139.607396 meters looking forward 100.000000 meters along route # Maximum depth: 148.356012 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 89.607396 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.836577; longitude = -135.077320; duration = 408; initialDepth = 93.807209; finalDepth = 89.607396; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.448086 # Actual altitude: 52.448086 # Commanded vehicle depth: 89.607396 # Seafloor depth: -139.607396 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 103.532403 meters # Minimum depth: 143.807209 meters looking forward 100.000000 meters along route # Maximum depth: 149.709369 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 93.807209 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.836031; longitude = -135.079561; duration = 414; initialDepth = 92.483846; finalDepth = 93.807209; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.408344 # Actual altitude: 55.408344 # Commanded vehicle depth: 93.807209 # Seafloor depth: -149.215553 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 100.866865 meters # Minimum depth: 142.483846 meters looking forward 100.000000 meters along route # Maximum depth: 153.915786 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 92.483846 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.835478; longitude = -135.081832; duration = 403; initialDepth = 86.813976; finalDepth = 92.483846; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.44803 # Actual altitude: 57.44803 # Commanded vehicle depth: 92.483846 # Seafloor depth: -149.931876 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 102.202342 meters # Minimum depth: 136.813976 meters looking forward 100.000000 meters along route # Maximum depth: 142.330099 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 86.813976 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.834940; longitude = -135.084044; duration = 408; initialDepth = 85.507379; finalDepth = 86.813976; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.44803 # Actual altitude: 57.44803 # Commanded vehicle depth: 86.813976 # Seafloor depth: -142.330099 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 102.204146 meters # Minimum depth: 135.507379 meters looking forward 100.000000 meters along route # Maximum depth: 140.059557 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 85.507379 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.834394; longitude = -135.086285; duration = 408; initialDepth = 86.504140; finalDepth = 85.507379; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.516123 # Actual altitude: 55.516123 # Commanded vehicle depth: 85.507379 # Seafloor depth: -140.059557 # 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 42 # Segment length 102.205951 meters # Minimum depth: 136.504140 meters looking forward 100.000000 meters along route # Maximum depth: 142.186704 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 86.504140 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.833849; longitude = -135.088526; duration = 408; initialDepth = 89.723364; finalDepth = 86.504140; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.552178 # Actual altitude: 54.552178 # Commanded vehicle depth: 86.50414 # Seafloor depth: -137.636624 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 102.530700 meters # Minimum depth: 139.723364 meters looking forward 100.000000 meters along route # Maximum depth: 148.894818 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 89.723364 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.833303; longitude = -135.090767; duration = 410; initialDepth = 85.866229; finalDepth = 89.723364; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.540671 # Actual altitude: 55.540671 # Commanded vehicle depth: 89.723364 # Seafloor depth: -145.264035 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 101.886616 meters # Minimum depth: 135.866229 meters looking forward 100.000000 meters along route # Maximum depth: 140.275128 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 85.866229 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.832756; longitude = -135.093015; duration = 407; initialDepth = 85.927837; finalDepth = 85.866229; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.540671 # Actual altitude: 55.540671 # Commanded vehicle depth: 85.866229 # Seafloor depth: -140.275128 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 102.211365 meters # Minimum depth: 135.927837 meters looking forward 100.000000 meters along route # Maximum depth: 146.298413 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 85.927837 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.832212; longitude = -135.095249; duration = 408; initialDepth = 82.133135; finalDepth = 85.927837; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.408899 # Actual altitude: 54.408899 # Commanded vehicle depth: 85.927837 # Seafloor depth: -135.927837 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 102.213170 meters # Minimum depth: 132.133135 meters looking forward 100.000000 meters along route # Maximum depth: 146.165396 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 82.133135 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.831667; longitude = -135.097491; duration = 408; initialDepth = 81.467633; finalDepth = 82.133135; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.032261 # Actual altitude: 64.032261 # Commanded vehicle depth: 82.133135 # Seafloor depth: -146.165396 # 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 42 # Segment length 104.217350 meters # Minimum depth: 131.467633 meters looking forward 100.000000 meters along route # Maximum depth: 135.108694 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 81.467633 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.831121; longitude = -135.099732; duration = 416; initialDepth = 85.540732; finalDepth = 81.467633; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.032261 # Actual altitude: 64.032261 # Commanded vehicle depth: 81.467633 # Seafloor depth: -133.755322 # 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 42 # Segment length 100.214406 meters # Minimum depth: 135.540732 meters looking forward 100.000000 meters along route # Maximum depth: 154.242557 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 85.540732 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.830565; longitude = -135.102017; duration = 400; initialDepth = 103.590479; finalDepth = 85.540732; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.287689 # Actual altitude: 52.287689 # Commanded vehicle depth: 85.540732 # Seafloor depth: -135.540732 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 102.218585 meters # Minimum depth: 153.590479 meters looking forward 100.000000 meters along route # Maximum depth: 155.825024 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 103.590479 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.830030; longitude = -135.104214; duration = 408; initialDepth = 94.913179; finalDepth = 103.590479; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.718825 # Actual altitude: 50.718825 # Commanded vehicle depth: 103.590479 # Seafloor depth: -154.309304 # 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 42 # Segment length 102.220390 meters # Minimum depth: 144.913179 meters looking forward 100.000000 meters along route # Maximum depth: 153.299699 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 94.913179 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.829484; longitude = -135.106455; duration = 408; initialDepth = 87.796420; finalDepth = 94.913179; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.38652 # Actual altitude: 58.38652 # Commanded vehicle depth: 94.913179 # Seafloor depth: -153.299699 # 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 42 # Segment length 102.222195 meters # Minimum depth: 137.796420 meters looking forward 100.000000 meters along route # Maximum depth: 146.560652 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 87.796420 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.828939; longitude = -135.108696; duration = 408; initialDepth = 80.955287; finalDepth = 87.796420; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.38652 # Actual altitude: 58.38652 # Commanded vehicle depth: 87.79642 # Seafloor depth: -145.789958 # 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 42 # Segment length 103.215546 meters # Minimum depth: 130.955287 meters looking forward 100.000000 meters along route # Maximum depth: 136.682514 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 80.955287 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.828393; longitude = -135.110938; duration = 412; initialDepth = 75.343044; finalDepth = 80.955287; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.993538 # Actual altitude: 57.993538 # Commanded vehicle depth: 80.955287 # Seafloor depth: -136.682514 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 101.234260 meters # Minimum depth: 125.343044 meters looking forward 100.000000 meters along route # Maximum depth: 136.355743 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 75.343044 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.827843; longitude = -135.113201; duration = 404; initialDepth = 72.111781; finalDepth = 75.343044; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.903074 # Actual altitude: 60.903074 # Commanded vehicle depth: 75.343044 # Seafloor depth: -136.246118 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 102.227611 meters # Minimum depth: 122.111781 meters looking forward 100.000000 meters along route # Maximum depth: 128.328180 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 72.111781 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.827302; longitude = -135.115420; duration = 408; initialDepth = 72.219057; finalDepth = 72.111781; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.903074 # Actual altitude: 60.903074 # Commanded vehicle depth: 72.111781 # Seafloor depth: -125.054902 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 102.229415 meters # Minimum depth: 122.219057 meters looking forward 100.000000 meters along route # Maximum depth: 129.471352 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 72.219057 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.826757; longitude = -135.117661; duration = 408; initialDepth = 79.905167; finalDepth = 72.219057; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.640546 # Actual altitude: 56.640546 # Commanded vehicle depth: 72.219057 # Seafloor depth: -128.859603 # 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 42 # Segment length 104.902511 meters # Minimum depth: 129.905167 meters looking forward 100.000000 meters along route # Maximum depth: 140.833663 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 79.905167 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.826211; longitude = -135.119902; duration = 419; initialDepth = 85.207073; finalDepth = 79.905167; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.640546 # Actual altitude: 56.640546 # Commanded vehicle depth: 79.905167 # Seafloor depth: -129.905167 # 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 42 # Segment length 111.985180 meters # Minimum depth: 135.207073 meters looking forward 100.000000 meters along route # Maximum depth: 144.799470 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 85.207073 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.825651; longitude = -135.122202; duration = 447; initialDepth = 82.174674; finalDepth = 85.207073; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 85.207073 # Seafloor depth: -135.207073 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 111.987347 meters # Minimum depth: 132.174674 meters looking forward 100.000000 meters along route # Maximum depth: 141.079914 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 82.174674 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.825054; longitude = -135.124657; duration = 447; initialDepth = 83.410093; finalDepth = 82.174674; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.90524 # Actual altitude: 58.90524 # Commanded vehicle depth: 82.174674 # Seafloor depth: -141.079914 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 111.989512 meters # Minimum depth: 133.410093 meters looking forward 100.000000 meters along route # Maximum depth: 139.281699 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 83.410093 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.824456; longitude = -135.127112; duration = 447; initialDepth = 82.576939; finalDepth = 83.410093; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.90524 # Actual altitude: 58.90524 # Commanded vehicle depth: 83.410093 # Seafloor depth: -133.410093 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 101.501982 meters # Minimum depth: 132.576939 meters looking forward 100.000000 meters along route # Maximum depth: 141.718518 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 82.576939 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.823859; longitude = -135.129567; duration = 406; initialDepth = 91.081973; finalDepth = 82.576939; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.49964 # Actual altitude: 54.49964 # Commanded vehicle depth: 82.576939 # Seafloor depth: -137.076579 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 41 # Segment length 149.988858 meters # Minimum depth: 141.081973 meters looking forward 100.000000 meters along route # Maximum depth: 148.353918 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 91.081973 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.823317; longitude = -135.131792; duration = 599; # abortOnTimeout = True; initialDepth = 82.316150; finalDepth = 91.081973; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.49964 # Actual altitude: 54.49964 # Commanded vehicle depth: 91.081973 # Seafloor depth: -142.890995 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 40 # Segment length 84.386619 meters # Minimum depth: 132.316150 meters looking forward 100.000000 meters along route # Maximum depth: 144.273418 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 82.316150 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.824397; longitude = -135.134230; duration = 337; # abortOnTimeout = True; initialDepth = 82.745810; finalDepth = 82.316150; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.957268 # Actual altitude: 61.957268 # Commanded vehicle depth: 82.31615 # Seafloor depth: -144.273418 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 103.439757 meters # Minimum depth: 132.745810 meters looking forward 100.000000 meters along route # Maximum depth: 142.053943 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 82.745810 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.824847; longitude = -135.132380; duration = 413; initialDepth = 77.801297; finalDepth = 82.745810; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.957268 # Actual altitude: 61.957268 # Commanded vehicle depth: 82.74581 # Seafloor depth: -132.745810 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 101.023332 meters # Minimum depth: 127.801297 meters looking forward 100.000000 meters along route # Maximum depth: 135.398864 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 77.801297 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.825399; longitude = -135.130113; duration = 404; initialDepth = 77.475966; finalDepth = 77.801297; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.597567 # Actual altitude: 57.597567 # Commanded vehicle depth: 77.801297 # Seafloor depth: -135.398864 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 102.228836 meters # Minimum depth: 127.475966 meters looking forward 100.000000 meters along route # Maximum depth: 137.474235 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 77.475966 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.825938; longitude = -135.127898; duration = 408; initialDepth = 83.598369; finalDepth = 77.475966; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.597567 # Actual altitude: 57.597567 # Commanded vehicle depth: 77.475966 # Seafloor depth: -127.475966 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 102.227031 meters # Minimum depth: 133.598369 meters looking forward 100.000000 meters along route # Maximum depth: 138.733984 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 83.598369 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.826484; longitude = -135.125657; duration = 408; initialDepth = 89.872327; finalDepth = 83.598369; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.534796 # Actual altitude: 52.534796 # Commanded vehicle depth: 83.598369 # Seafloor depth: -136.133165 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 102.225226 meters # Minimum depth: 139.872327 meters looking forward 100.000000 meters along route # Maximum depth: 147.576715 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 89.872327 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.827029; longitude = -135.123416; duration = 408; initialDepth = 88.075574; finalDepth = 89.872327; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.534796 # Actual altitude: 52.534796 # Commanded vehicle depth: 89.872327 # Seafloor depth: -139.872327 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 102.431116 meters # Minimum depth: 138.075574 meters looking forward 100.000000 meters along route # Maximum depth: 155.508879 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 88.075574 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.827575; longitude = -135.121174; duration = 409; initialDepth = 81.279844; finalDepth = 88.075574; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.948891 # Actual altitude: 61.948891 # Commanded vehicle depth: 88.075574 # Seafloor depth: -150.024465 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 102.013921 meters # Minimum depth: 131.279844 meters looking forward 100.000000 meters along route # Maximum depth: 138.029418 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 81.279844 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.828122; longitude = -135.118929; duration = 408; initialDepth = 80.178171; finalDepth = 81.279844; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.948891 # Actual altitude: 61.948891 # Commanded vehicle depth: 81.279844 # Seafloor depth: -138.029418 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 102.219811 meters # Minimum depth: 130.178171 meters looking forward 100.000000 meters along route # Maximum depth: 132.407756 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 80.178171 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.828666; longitude = -135.116692; duration = 408; initialDepth = 78.750784; finalDepth = 80.178171; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.749574 # Actual altitude: 56.749574 # Commanded vehicle depth: 80.178171 # Seafloor depth: -130.936751 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 102.218006 meters # Minimum depth: 128.750784 meters looking forward 100.000000 meters along route # Maximum depth: 130.779921 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 78.750784 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.829212; longitude = -135.114451; duration = 408; initialDepth = 77.921127; finalDepth = 78.750784; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.029137 # Actual altitude: 52.029137 # Commanded vehicle depth: 78.750784 # Seafloor depth: -130.779921 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 104.112511 meters # Minimum depth: 127.921127 meters looking forward 100.000000 meters along route # Maximum depth: 128.660652 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 77.921127 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.829757; longitude = -135.112210; duration = 416; initialDepth = 78.546737; finalDepth = 77.921127; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.029137 # Actual altitude: 52.029137 # Commanded vehicle depth: 77.921127 # Seafloor depth: -128.660652 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 100.318085 meters # Minimum depth: 128.546737 meters looking forward 100.000000 meters along route # Maximum depth: 146.567961 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 78.546737 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.830313; longitude = -135.109927; duration = 401; initialDepth = 96.674472; finalDepth = 78.546737; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.739525 # Actual altitude: 50.739525 # Commanded vehicle depth: 78.546737 # Seafloor depth: -128.546737 # 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 40 # Segment length 102.212591 meters # Minimum depth: 146.674472 meters looking forward 100.000000 meters along route # Maximum depth: 158.368402 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 96.674472 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.830848; longitude = -135.107728; duration = 408; initialDepth = 107.089627; finalDepth = 96.674472; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 96.674472 # Seafloor depth: -146.674472 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 102.210786 meters # Minimum depth: 157.089627 meters looking forward 100.000000 meters along route # Maximum depth: 158.077187 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 107.089627 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.831394; longitude = -135.105487; duration = 408; initialDepth = 107.404689; finalDepth = 107.089627; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.98756 # Actual altitude: 50.98756 # Commanded vehicle depth: 107.089627 # Seafloor depth: -158.077187 # 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 40 # Segment length 102.208981 meters # Minimum depth: 157.404689 meters looking forward 100.000000 meters along route # Maximum depth: 157.666688 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 107.404689 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.831939; longitude = -135.103246; duration = 408; initialDepth = 105.523806; finalDepth = 107.404689; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.98756 # Actual altitude: 50.98756 # Commanded vehicle depth: 107.404689 # Seafloor depth: -157.618489 # 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 40 # Segment length 103.103970 meters # Minimum depth: 155.523806 meters looking forward 100.000000 meters along route # Maximum depth: 158.030208 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 105.523806 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.832485; longitude = -135.101004; duration = 412; initialDepth = 104.221610; finalDepth = 105.523806; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.161842 # Actual altitude: 52.161842 # Commanded vehicle depth: 105.523806 # Seafloor depth: -157.685648 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 101.308578 meters # Minimum depth: 154.221610 meters looking forward 100.000000 meters along route # Maximum depth: 155.878594 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 104.221610 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.833035; longitude = -135.098744; duration = 405; initialDepth = 104.817407; finalDepth = 104.221610; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.161842 # Actual altitude: 52.161842 # Commanded vehicle depth: 104.22161 # Seafloor depth: -155.395775 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 102.203566 meters # Minimum depth: 154.817407 meters looking forward 100.000000 meters along route # Maximum depth: 156.424914 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 104.817407 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.833576; longitude = -135.096522; duration = 408; initialDepth = 95.409389; finalDepth = 104.817407; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.174165 # Actual altitude: 51.174165 # Commanded vehicle depth: 104.817407 # Seafloor depth: -155.889814 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 102.201762 meters # Minimum depth: 145.409389 meters looking forward 100.000000 meters along route # Maximum depth: 156.548232 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 95.409389 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.834122; longitude = -135.094281; duration = 408; initialDepth = 88.237519; finalDepth = 95.409389; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.138843 # Actual altitude: 61.138843 # Commanded vehicle depth: 95.409389 # Seafloor depth: -156.548232 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 102.199957 meters # Minimum depth: 138.237519 meters looking forward 100.000000 meters along route # Maximum depth: 144.966834 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 88.237519 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.834667; longitude = -135.092040; duration = 408; initialDepth = 86.480596; finalDepth = 88.237519; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.138843 # Actual altitude: 61.138843 # Commanded vehicle depth: 88.237519 # Seafloor depth: -144.966834 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 102.198152 meters # Minimum depth: 136.480596 meters looking forward 100.000000 meters along route # Maximum depth: 153.983261 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 86.480596 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.835213; longitude = -135.089799; duration = 408; initialDepth = 103.097073; finalDepth = 86.480596; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.729315 # Actual altitude: 56.729315 # Commanded vehicle depth: 86.480596 # Seafloor depth: -138.425319 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 102.196348 meters # Minimum depth: 153.097073 meters looking forward 100.000000 meters along route # Maximum depth: 160.321607 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 103.097073 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.835758; longitude = -135.087558; duration = 408; initialDepth = 100.044841; finalDepth = 103.097073; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.944723 # Actual altitude: 51.944723 # Commanded vehicle depth: 103.097073 # Seafloor depth: -154.003174 # 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 40 # Segment length 102.194543 meters # Minimum depth: 150.044841 meters looking forward 100.000000 meters along route # Maximum depth: 158.660015 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 100.044841 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.836304; longitude = -135.085317; duration = 408; initialDepth = 101.819443; finalDepth = 100.044841; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.533928 # Actual altitude: 52.533928 # Commanded vehicle depth: 100.044841 # Seafloor depth: -152.578769 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 102.192738 meters # Minimum depth: 151.819443 meters looking forward 100.000000 meters along route # Maximum depth: 160.883038 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 101.819443 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.836849; longitude = -135.083075; duration = 408; initialDepth = 104.134758; finalDepth = 101.819443; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.255234 # Actual altitude: 58.255234 # Commanded vehicle depth: 101.819443 # Seafloor depth: -160.074677 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.95; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 103.776607 meters # Minimum depth: 154.134758 meters looking forward 100.000000 meters along route # Maximum depth: 159.521461 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 104.134758 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.837395; longitude = -135.080834; duration = 415; initialDepth = 101.845536; finalDepth = 104.134758; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.255234 # Actual altitude: 58.255234 # Commanded vehicle depth: 104.134758 # Seafloor depth: -154.134758 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.95; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 100.603456 meters # Minimum depth: 151.845536 meters looking forward 100.000000 meters along route # Maximum depth: 159.422084 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 101.845536 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.837949; longitude = -135.078558; duration = 402; initialDepth = 91.673972; finalDepth = 101.845536; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.576548 # Actual altitude: 57.576548 # Commanded vehicle depth: 101.845536 # Seafloor depth: -159.422084 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 102.187325 meters # Minimum depth: 141.673972 meters looking forward 100.000000 meters along route # Maximum depth: 154.034983 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 91.673972 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.838486; longitude = -135.076352; duration = 408; initialDepth = 82.844455; finalDepth = 91.673972; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.738662 # Actual altitude: 60.738662 # Commanded vehicle depth: 91.673972 # Seafloor depth: -152.412634 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 102.185520 meters # Minimum depth: 132.844455 meters looking forward 100.000000 meters along route # Maximum depth: 140.742140 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 82.844455 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.839032; longitude = -135.074111; duration = 408; initialDepth = 85.076302; finalDepth = 82.844455; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.738662 # Actual altitude: 60.738662 # Commanded vehicle depth: 82.844455 # Seafloor depth: -140.742140 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 102.183715 meters # Minimum depth: 135.076302 meters looking forward 100.000000 meters along route # Maximum depth: 145.989311 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 85.076302 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.839577; longitude = -135.071870; duration = 408; initialDepth = 98.602344; finalDepth = 85.076302; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.897685 # Actual altitude: 57.897685 # Commanded vehicle depth: 85.076302 # Seafloor depth: -135.310480 # 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 40 # Segment length 102.768342 meters # Minimum depth: 148.602344 meters looking forward 100.000000 meters along route # Maximum depth: 153.710636 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 98.602344 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.840123; longitude = -135.069629; duration = 411; initialDepth = 101.175547; finalDepth = 98.602344; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.234178 # Actual altitude: 50.234178 # Commanded vehicle depth: 98.602344 # Seafloor depth: -148.787553 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 101.593676 meters # Minimum depth: 151.175547 meters looking forward 100.000000 meters along route # Maximum depth: 154.461601 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 101.175547 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.840671; longitude = -135.067375; duration = 406; initialDepth = 96.129212; finalDepth = 101.175547; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.361007 # Actual altitude: 51.361007 # Commanded vehicle depth: 101.175547 # Seafloor depth: -152.536554 # 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 40 # Segment length 102.178303 meters # Minimum depth: 146.129212 meters looking forward 100.000000 meters along route # Maximum depth: 151.774642 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 96.129212 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.841214; longitude = -135.065146; duration = 408; initialDepth = 96.680622; finalDepth = 96.129212; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.64543 # Actual altitude: 55.64543 # Commanded vehicle depth: 96.129212 # Seafloor depth: -151.774642 # 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 40 # Segment length 102.176497 meters # Minimum depth: 146.680622 meters looking forward 100.000000 meters along route # Maximum depth: 151.268379 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 96.680622 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.841759; longitude = -135.062905; duration = 408; initialDepth = 96.184771; finalDepth = 96.680622; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.64543 # Actual altitude: 55.64543 # Commanded vehicle depth: 96.680622 # Seafloor depth: -148.118510 # 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 40 # Segment length 102.174694 meters # Minimum depth: 146.184771 meters looking forward 100.000000 meters along route # Maximum depth: 157.203136 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 96.184771 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.842305; longitude = -135.060664; duration = 408; initialDepth = 109.176822; finalDepth = 96.184771; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.437888 # Actual altitude: 51.437888 # Commanded vehicle depth: 96.184771 # Seafloor depth: -146.184771 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 102.172889 meters # Minimum depth: 159.176822 meters looking forward 100.000000 meters along route # Maximum depth: 160.734131 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 109.176822 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.842850; longitude = -135.058423; duration = 408; initialDepth = 100.962188; finalDepth = 109.176822; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 109.176822 # Seafloor depth: -159.176822 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 102.171085 meters # Minimum depth: 150.962188 meters looking forward 100.000000 meters along route # Maximum depth: 159.226942 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 100.962188 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.843396; longitude = -135.056182; duration = 408; initialDepth = 93.267453; finalDepth = 100.962188; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.264754 # Actual altitude: 58.264754 # Commanded vehicle depth: 100.962188 # Seafloor depth: -159.226942 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 102.169281 meters # Minimum depth: 143.267453 meters looking forward 100.000000 meters along route # Maximum depth: 150.728533 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 93.267453 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.843941; longitude = -135.053941; duration = 408; initialDepth = 88.152845; finalDepth = 93.267453; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.264754 # Actual altitude: 58.264754 # Commanded vehicle depth: 93.267453 # Seafloor depth: -150.728533 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 102.167476 meters # Minimum depth: 138.152845 meters looking forward 100.000000 meters along route # Maximum depth: 143.639204 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 88.152845 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.844487; longitude = -135.051700; duration = 408; initialDepth = 83.655686; finalDepth = 88.152845; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.46108 # Actual altitude: 57.46108 # Commanded vehicle depth: 88.152845 # Seafloor depth: -143.639204 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 103.440861 meters # Minimum depth: 133.655686 meters looking forward 100.000000 meters along route # Maximum depth: 137.435682 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 83.655686 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.845033; longitude = -135.049459; duration = 413; initialDepth = 83.120638; finalDepth = 83.655686; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.486359 # Actual altitude: 55.486359 # Commanded vehicle depth: 83.655686 # Seafloor depth: -137.435682 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 100.888680 meters # Minimum depth: 133.120638 meters looking forward 100.000000 meters along route # Maximum depth: 134.629299 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 83.120638 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.845585; longitude = -135.047189; duration = 403; initialDepth = 82.983886; finalDepth = 83.120638; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.779996 # Actual altitude: 53.779996 # Commanded vehicle depth: 83.120638 # Seafloor depth: -134.629299 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 102.162064 meters # Minimum depth: 132.983886 meters looking forward 100.000000 meters along route # Maximum depth: 133.316833 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 82.983886 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.846124; longitude = -135.044976; duration = 408; initialDepth = 82.936404; finalDepth = 82.983886; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.508661 # Actual altitude: 51.508661 # Commanded vehicle depth: 82.983886 # Seafloor depth: -133.116872 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 102.024740 meters # Minimum depth: 132.936404 meters looking forward 100.000000 meters along route # Maximum depth: 133.826757 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 82.936404 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.846669; longitude = -135.042735; duration = 408; initialDepth = 81.999619; finalDepth = 82.936404; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.132986 # Actual altitude: 50.132986 # Commanded vehicle depth: 82.936404 # Seafloor depth: -133.036273 # 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; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 39 # Segment length 149.993091 meters # Minimum depth: 131.999619 meters looking forward 100.000000 meters along route # Maximum depth: 133.893120 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 81.999619 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.847214; longitude = -135.040497; duration = 599; # abortOnTimeout = True; initialDepth = 81.161603; finalDepth = 81.999619; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.893501 # Actual altitude: 51.893501 # Commanded vehicle depth: 81.999619 # Seafloor depth: -133.893120 # 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; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 38 # Segment length 151.207910 meters # Minimum depth: 131.161603 meters looking forward 100.000000 meters along route # Maximum depth: 132.896022 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 81.161603 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.848295; longitude = -135.042934; duration = 604; # abortOnTimeout = True; initialDepth = 80.601859; finalDepth = 81.161603; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.893501 # Actual altitude: 51.893501 # Commanded vehicle depth: 81.161603 # Seafloor depth: -131.920116 # 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 38 # Segment length 102.157876 meters # Minimum depth: 130.601859 meters looking forward 100.000000 meters along route # Maximum depth: 131.598140 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 80.601859 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.847487; longitude = -135.046251; duration = 408; initialDepth = 78.367232; finalDepth = 80.601859; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.758513 # Actual altitude: 50.758513 # Commanded vehicle depth: 80.601859 # Seafloor depth: -131.012184 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 102.258062 meters # Minimum depth: 128.367232 meters looking forward 100.000000 meters along route # Maximum depth: 131.801080 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 78.367232 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.846942; longitude = -135.048492; duration = 409; initialDepth = 77.903804; finalDepth = 78.367232; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.402554 # Actual altitude: 53.402554 # Commanded vehicle depth: 78.367232 # Seafloor depth: -131.769786 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 102.063103 meters # Minimum depth: 127.903804 meters looking forward 100.000000 meters along route # Maximum depth: 138.920927 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 77.903804 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.846396; longitude = -135.050735; duration = 408; initialDepth = 89.255992; finalDepth = 77.903804; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.402554 # Actual altitude: 53.402554 # Commanded vehicle depth: 77.903804 # Seafloor depth: -128.362892 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 102.163288 meters # Minimum depth: 139.255992 meters looking forward 100.000000 meters along route # Maximum depth: 158.495680 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 89.255992 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.845851; longitude = -135.052974; duration = 408; initialDepth = 105.937445; finalDepth = 89.255992; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.459088 # Actual altitude: 50.459088 # Commanded vehicle depth: 89.255992 # Seafloor depth: -139.255992 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 102.165093 meters # Minimum depth: 155.937445 meters looking forward 100.000000 meters along route # Maximum depth: 160.078050 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 105.937445 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.845305; longitude = -135.055215; duration = 408; initialDepth = 109.404725; finalDepth = 105.937445; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.239839 # Actual altitude: 53.239839 # Commanded vehicle depth: 105.937445 # Seafloor depth: -159.177284 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 103.962361 meters # Minimum depth: 159.404725 meters looking forward 100.000000 meters along route # Maximum depth: 166.023708 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 109.404725 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.844760; longitude = -135.057457; duration = 415; initialDepth = 103.912838; finalDepth = 109.404725; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.239839 # Actual altitude: 53.239839 # Commanded vehicle depth: 109.404725 # Seafloor depth: -159.404725 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 100.373238 meters # Minimum depth: 153.912838 meters looking forward 100.000000 meters along route # Maximum depth: 159.949225 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 103.912838 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.844205; longitude = -135.059737; duration = 401; initialDepth = 104.295499; finalDepth = 103.912838; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.036387 # Actual altitude: 56.036387 # Commanded vehicle depth: 103.912838 # Seafloor depth: -159.949225 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 102.170505 meters # Minimum depth: 154.295499 meters looking forward 100.000000 meters along route # Maximum depth: 158.471135 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 104.295499 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.843669; longitude = -135.061939; duration = 408; initialDepth = 108.722208; finalDepth = 104.295499; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.036387 # Actual altitude: 56.036387 # Commanded vehicle depth: 104.295499 # Seafloor depth: -156.433766 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 102.172310 meters # Minimum depth: 158.722208 meters looking forward 100.000000 meters along route # Maximum depth: 161.942274 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 108.722208 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.843123; longitude = -135.064180; duration = 408; initialDepth = 110.470649; finalDepth = 108.722208; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.138267 # Actual altitude: 52.138267 # Commanded vehicle depth: 108.722208 # Seafloor depth: -158.722208 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 102.174114 meters # Minimum depth: 160.470649 meters looking forward 100.000000 meters along route # Maximum depth: 164.536876 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 110.470649 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.842578; longitude = -135.066421; duration = 408; initialDepth = 96.154255; finalDepth = 110.470649; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.029071 # Actual altitude: 50.029071 # Commanded vehicle depth: 110.470649 # Seafloor depth: -160.499720 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 102.983946 meters # Minimum depth: 146.154255 meters looking forward 100.000000 meters along route # Maximum depth: 160.967899 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 96.154255 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.842032; longitude = -135.068662; duration = 411; initialDepth = 95.198331; finalDepth = 96.154255; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.813644 # Actual altitude: 64.813644 # Commanded vehicle depth: 96.154255 # Seafloor depth: -160.967899 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 101.369696 meters # Minimum depth: 145.198331 meters looking forward 100.000000 meters along route # Maximum depth: 161.283384 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 95.198331 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.841482; longitude = -135.070921; duration = 405; initialDepth = 103.893999; finalDepth = 95.198331; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.813644 # Actual altitude: 64.813644 # Commanded vehicle depth: 95.198331 # Seafloor depth: -146.514687 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 102.179527 meters # Minimum depth: 153.893999 meters looking forward 100.000000 meters along route # Maximum depth: 161.357746 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 103.893999 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.840941; longitude = -135.073144; duration = 408; initialDepth = 110.241209; finalDepth = 103.893999; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.463747 # Actual altitude: 57.463747 # Commanded vehicle depth: 103.893999 # Seafloor depth: -161.357746 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 102.181332 meters # Minimum depth: 160.241209 meters looking forward 100.000000 meters along route # Maximum depth: 164.449062 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 110.241209 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.840395; longitude = -135.075385; duration = 408; initialDepth = 113.492121; finalDepth = 110.241209; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.463747 # Actual altitude: 57.463747 # Commanded vehicle depth: 110.241209 # Seafloor depth: -160.241209 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 102.183136 meters # Minimum depth: 163.492121 meters looking forward 100.000000 meters along route # Maximum depth: 164.978768 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 113.492121 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.839850; longitude = -135.077626; duration = 408; initialDepth = 106.477723; finalDepth = 113.492121; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.227501 # Actual altitude: 50.227501 # Commanded vehicle depth: 113.492121 # Seafloor depth: -163.719622 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 102.184941 meters # Minimum depth: 156.477723 meters looking forward 100.000000 meters along route # Maximum depth: 164.907302 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 106.477723 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.839304; longitude = -135.079867; duration = 408; initialDepth = 87.936643; finalDepth = 106.477723; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.394894 # Actual altitude: 58.394894 # Commanded vehicle depth: 106.477723 # Seafloor depth: -164.872617 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 102.186745 meters # Minimum depth: 137.936643 meters looking forward 100.000000 meters along route # Maximum depth: 157.095273 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 87.936643 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.838759; longitude = -135.082108; duration = 408; initialDepth = 87.151863; finalDepth = 87.936643; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.15863 # Actual altitude: 69.15863 # Commanded vehicle depth: 87.936643 # Seafloor depth: -157.095273 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 102.188550 meters # Minimum depth: 137.151863 meters looking forward 100.000000 meters along route # Maximum depth: 151.393941 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 87.151863 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.838213; longitude = -135.084349; duration = 408; initialDepth = 102.328044; finalDepth = 87.151863; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.15863 # Actual altitude: 69.15863 # Commanded vehicle depth: 87.151863 # Seafloor depth: -137.733978 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 102.190355 meters # Minimum depth: 152.328044 meters looking forward 100.000000 meters along route # Maximum depth: 161.626042 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 102.328044 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.837668; longitude = -135.086591; duration = 408; initialDepth = 105.640766; finalDepth = 102.328044; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.582115 # Actual altitude: 50.582115 # Commanded vehicle depth: 102.328044 # Seafloor depth: -152.328044 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 103.710057 meters # Minimum depth: 155.640766 meters looking forward 100.000000 meters along route # Maximum depth: 161.634512 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 105.640766 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.837122; longitude = -135.088832; duration = 414; initialDepth = 97.960813; finalDepth = 105.640766; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.380794 # Actual altitude: 54.380794 # Commanded vehicle depth: 105.640766 # Seafloor depth: -160.021560 # 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 38 # Segment length 100.676066 meters # Minimum depth: 147.960813 meters looking forward 100.000000 meters along route # Maximum depth: 157.012500 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 97.960813 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.836568; longitude = -135.091106; duration = 402; initialDepth = 97.899967; finalDepth = 97.960813; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.620813 # Actual altitude: 57.620813 # Commanded vehicle depth: 97.960813 # Seafloor depth: -155.581626 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 102.195768 meters # Minimum depth: 147.899967 meters looking forward 100.000000 meters along route # Maximum depth: 158.537830 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 97.899967 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.836031; longitude = -135.093314; duration = 408; initialDepth = 106.854434; finalDepth = 97.899967; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.620813 # Actual altitude: 57.620813 # Commanded vehicle depth: 97.899967 # Seafloor depth: -147.899967 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 102.197573 meters # Minimum depth: 156.854434 meters looking forward 100.000000 meters along route # Maximum depth: 159.917114 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 106.854434 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.835485; longitude = -135.095555; duration = 408; initialDepth = 101.805822; finalDepth = 106.854434; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.233507 # Actual altitude: 50.233507 # Commanded vehicle depth: 106.854434 # Seafloor depth: -157.087941 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 102.199378 meters # Minimum depth: 151.805822 meters looking forward 100.000000 meters along route # Maximum depth: 159.564549 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 101.805822 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.834940; longitude = -135.097796; duration = 408; initialDepth = 100.883051; finalDepth = 101.805822; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.758727 # Actual altitude: 57.758727 # Commanded vehicle depth: 101.805822 # Seafloor depth: -159.564549 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 102.731375 meters # Minimum depth: 150.883051 meters looking forward 100.000000 meters along route # Maximum depth: 157.369986 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 100.883051 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.834394; longitude = -135.100037; duration = 410; initialDepth = 107.052419; finalDepth = 100.883051; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.758727 # Actual altitude: 57.758727 # Commanded vehicle depth: 100.883051 # Seafloor depth: -150.883051 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 101.672795 meters # Minimum depth: 157.052419 meters looking forward 100.000000 meters along route # Maximum depth: 160.898864 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 107.052419 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.833846; longitude = -135.102290; duration = 406; initialDepth = 105.042563; finalDepth = 107.052419; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.340241 # Actual altitude: 50.340241 # Commanded vehicle depth: 107.052419 # Seafloor depth: -157.392660 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 102.204792 meters # Minimum depth: 155.042563 meters looking forward 100.000000 meters along route # Maximum depth: 159.603764 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 105.042563 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.833303; longitude = -135.104519; duration = 408; initialDepth = 85.702808; finalDepth = 105.042563; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.561201 # Actual altitude: 54.561201 # Commanded vehicle depth: 105.042563 # Seafloor depth: -159.603764 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 102.206597 meters # Minimum depth: 135.702808 meters looking forward 100.000000 meters along route # Maximum depth: 154.211515 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 85.702808 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.832758; longitude = -135.106760; duration = 408; initialDepth = 83.491668; finalDepth = 85.702808; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.508707 # Actual altitude: 68.508707 # Commanded vehicle depth: 85.702808 # Seafloor depth: -154.211515 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 102.208402 meters # Minimum depth: 133.491668 meters looking forward 100.000000 meters along route # Maximum depth: 136.102666 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 83.491668 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.832212; longitude = -135.109001; duration = 408; initialDepth = 79.292232; finalDepth = 83.491668; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.508707 # Actual altitude: 68.508707 # Commanded vehicle depth: 83.491668 # Seafloor depth: -135.759069 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 102.210207 meters # Minimum depth: 129.292232 meters looking forward 100.000000 meters along route # Maximum depth: 132.874257 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 79.292232 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.831667; longitude = -135.111242; duration = 408; initialDepth = 79.214584; finalDepth = 79.292232; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.582025 # Actual altitude: 53.582025 # Commanded vehicle depth: 79.292232 # Seafloor depth: -132.874257 # 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 38 # Segment length 102.212012 meters # Minimum depth: 129.214584 meters looking forward 100.000000 meters along route # Maximum depth: 133.637706 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 79.214584 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.831121; longitude = -135.113483; duration = 408; initialDepth = 83.073433; finalDepth = 79.214584; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.582025 # Actual altitude: 53.582025 # Commanded vehicle depth: 79.214584 # Seafloor depth: -129.290187 # 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 38 # Segment length 102.213816 meters # Minimum depth: 133.073433 meters looking forward 100.000000 meters along route # Maximum depth: 134.387791 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 83.073433 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.830576; longitude = -135.115724; duration = 408; initialDepth = 82.229391; finalDepth = 83.073433; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.765862 # Actual altitude: 50.765862 # Commanded vehicle depth: 83.073433 # Seafloor depth: -133.839295 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 102.215622 meters # Minimum depth: 132.229391 meters looking forward 100.000000 meters along route # Maximum depth: 133.490064 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 82.229391 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.830030; longitude = -135.117966; duration = 408; initialDepth = 85.339496; finalDepth = 82.229391; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.027527 # Actual altitude: 51.027527 # Commanded vehicle depth: 82.229391 # Seafloor depth: -133.256918 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 103.457621 meters # Minimum depth: 135.339496 meters looking forward 100.000000 meters along route # Maximum depth: 147.792356 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 85.339496 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.829484; longitude = -135.120207; duration = 413; initialDepth = 96.414517; finalDepth = 85.339496; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.027527 # Actual altitude: 51.027527 # Commanded vehicle depth: 85.339496 # Seafloor depth: -135.339496 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 100.979037 meters # Minimum depth: 146.414517 meters looking forward 100.000000 meters along route # Maximum depth: 149.436093 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 96.414517 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.828932; longitude = -135.122475; duration = 403; initialDepth = 93.357368; finalDepth = 96.414517; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.590506 # Actual altitude: 50.590506 # Commanded vehicle depth: 96.414517 # Seafloor depth: -147.005023 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 102.221037 meters # Minimum depth: 143.357368 meters looking forward 100.000000 meters along route # Maximum depth: 148.400386 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 93.357368 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.828393; longitude = -135.124689; duration = 408; initialDepth = 95.697355; finalDepth = 93.357368; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.256257 # Actual altitude: 53.256257 # Commanded vehicle depth: 93.357368 # Seafloor depth: -146.613625 # 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 38 # Segment length 107.847160 meters # Minimum depth: 145.697355 meters looking forward 100.000000 meters along route # Maximum depth: 150.407425 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 95.697355 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.827848; longitude = -135.126930; duration = 431; initialDepth = 95.338274; finalDepth = 95.697355; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.256257 # Actual altitude: 53.256257 # Commanded vehicle depth: 95.697355 # Seafloor depth: -148.631568 # 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 38 # Segment length 111.981096 meters # Minimum depth: 145.338274 meters looking forward 100.000000 meters along route # Maximum depth: 157.772707 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 95.338274 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.827272; longitude = -135.129294; duration = 447; initialDepth = 95.780981; finalDepth = 95.338274; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.934213 # Actual altitude: 52.934213 # Commanded vehicle depth: 95.338274 # Seafloor depth: -145.396658 # 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 38 # Segment length 111.983262 meters # Minimum depth: 145.780981 meters looking forward 100.000000 meters along route # Maximum depth: 155.478445 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 95.780981 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.826675; longitude = -135.131749; duration = 447; initialDepth = 97.997145; finalDepth = 95.780981; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.697464 # Actual altitude: 59.697464 # Commanded vehicle depth: 95.780981 # Seafloor depth: -155.478445 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 112.437538 meters # Minimum depth: 147.997145 meters looking forward 100.000000 meters along route # Maximum depth: 158.898589 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 97.997145 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.826077; longitude = -135.134204; duration = 449; initialDepth = 98.325692; finalDepth = 97.997145; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 59.697464 # Actual altitude: 59.697464 # Commanded vehicle depth: 97.997145 # Seafloor depth: -149.175713 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 37 # Segment length 150.004960 meters # Minimum depth: 148.325692 meters looking forward 100.000000 meters along route # Maximum depth: 158.298823 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 98.325692 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.825477; longitude = -135.136669; duration = 600; # abortOnTimeout = True; initialDepth = 99.484565; finalDepth = 98.325692; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 57.396503 # Actual altitude: 57.396503 # Commanded vehicle depth: 98.325692 # Seafloor depth: -155.722195 # 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; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 36 # Segment length 139.647917 meters # Minimum depth: 149.484565 meters looking forward 100.000000 meters along route # Maximum depth: 157.807861 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 99.484565 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.826557; longitude = -135.139108; duration = 558; # abortOnTimeout = True; initialDepth = 94.068398; finalDepth = 99.484565; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.323296 # Actual altitude: 58.323296 # Commanded vehicle depth: 99.484565 # Seafloor depth: -157.807861 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 102.222065 meters # Minimum depth: 144.068398 meters looking forward 100.000000 meters along route # Maximum depth: 149.379411 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 94.068398 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.827302; longitude = -135.136047; duration = 408; initialDepth = 91.848230; finalDepth = 94.068398; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.323296 # Actual altitude: 58.323296 # Commanded vehicle depth: 94.068398 # Seafloor depth: -149.379411 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 102.220259 meters # Minimum depth: 141.848230 meters looking forward 100.000000 meters along route # Maximum depth: 148.071105 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 91.848230 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.827848; longitude = -135.133805; duration = 408; initialDepth = 94.809347; finalDepth = 91.848230; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.485792 # Actual altitude: 55.485792 # Commanded vehicle depth: 91.84823 # Seafloor depth: -147.334022 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 103.548830 meters # Minimum depth: 144.809347 meters looking forward 100.000000 meters along route # Maximum depth: 152.000829 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 94.809347 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.828393; longitude = -135.131564; duration = 414; initialDepth = 102.267242; finalDepth = 94.809347; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.485792 # Actual altitude: 55.485792 # Commanded vehicle depth: 94.809347 # Seafloor depth: -144.809347 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.886275 meters # Minimum depth: 152.267242 meters looking forward 100.000000 meters along route # Maximum depth: 157.899696 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 102.267242 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.828946; longitude = -135.129294; duration = 403; initialDepth = 103.183220; finalDepth = 102.267242; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 102.267242 # Seafloor depth: -152.267242 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 102.214844 meters # Minimum depth: 153.183220 meters looking forward 100.000000 meters along route # Maximum depth: 157.854663 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 103.183220 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.829484; longitude = -135.127082; duration = 408; initialDepth = 80.959366; finalDepth = 103.183220; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.671443 # Actual altitude: 54.671443 # Commanded vehicle depth: 103.18322 # Seafloor depth: -157.854663 # 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 36 # Segment length 102.213039 meters # Minimum depth: 130.959366 meters looking forward 100.000000 meters along route # Maximum depth: 152.259150 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 80.959366 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.830030; longitude = -135.124841; duration = 408; initialDepth = 78.720125; finalDepth = 80.959366; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.299784 # Actual altitude: 71.299784 # Commanded vehicle depth: 80.959366 # Seafloor depth: -152.259150 # 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 36 # Segment length 102.211235 meters # Minimum depth: 128.720125 meters looking forward 100.000000 meters along route # Maximum depth: 129.821844 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 78.720125 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.830576; longitude = -135.122600; duration = 408; initialDepth = 80.505290; finalDepth = 78.720125; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.299784 # Actual altitude: 71.299784 # Commanded vehicle depth: 78.720125 # Seafloor depth: -129.773850 # 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 36 # Segment length 102.557814 meters # Minimum depth: 130.505290 meters looking forward 100.000000 meters along route # Maximum depth: 136.464884 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 80.505290 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.831121; longitude = -135.120359; duration = 410; initialDepth = 84.283144; finalDepth = 80.505290; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.053725 # Actual altitude: 51.053725 # Commanded vehicle depth: 80.50529 # Seafloor depth: -130.505290 # 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 36 # Segment length 101.859240 meters # Minimum depth: 134.283144 meters looking forward 100.000000 meters along route # Maximum depth: 136.816614 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 84.283144 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.831669; longitude = -135.118111; duration = 407; initialDepth = 81.532560; finalDepth = 84.283144; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.179391 # Actual altitude: 52.179391 # Commanded vehicle depth: 84.283144 # Seafloor depth: -136.462535 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 102.205820 meters # Minimum depth: 131.532560 meters looking forward 100.000000 meters along route # Maximum depth: 134.044494 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 81.532560 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.832212; longitude = -135.115877; duration = 408; initialDepth = 81.164266; finalDepth = 81.532560; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.511934 # Actual altitude: 52.511934 # Commanded vehicle depth: 81.53256 # Seafloor depth: -134.044494 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 102.204014 meters # Minimum depth: 131.164266 meters looking forward 100.000000 meters along route # Maximum depth: 144.864927 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 81.164266 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.832758; longitude = -135.113636; duration = 408; initialDepth = 96.131712; finalDepth = 81.164266; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.511934 # Actual altitude: 52.511934 # Commanded vehicle depth: 81.164266 # Seafloor depth: -131.841194 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 104.253053 meters # Minimum depth: 146.131712 meters looking forward 100.000000 meters along route # Maximum depth: 161.159717 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 96.131712 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.833303; longitude = -135.111395; duration = 417; initialDepth = 108.735571; finalDepth = 96.131712; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.676928 # Actual altitude: 50.676928 # Commanded vehicle depth: 96.131712 # Seafloor depth: -146.131712 # 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 36 # Segment length 100.149563 meters # Minimum depth: 158.735571 meters looking forward 100.000000 meters along route # Maximum depth: 161.467410 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 108.735571 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.833860; longitude = -135.109109; duration = 400; initialDepth = 108.703416; finalDepth = 108.735571; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.321662 # Actual altitude: 52.321662 # Commanded vehicle depth: 108.735571 # Seafloor depth: -161.057233 # 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 36 # Segment length 102.198600 meters # Minimum depth: 158.703416 meters looking forward 100.000000 meters along route # Maximum depth: 162.746246 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 108.703416 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.834394; longitude = -135.106913; duration = 408; initialDepth = 108.465030; finalDepth = 108.703416; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.321662 # Actual altitude: 52.321662 # Commanded vehicle depth: 108.703416 # Seafloor depth: -158.703416 # 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 36 # Segment length 102.196796 meters # Minimum depth: 158.465030 meters looking forward 100.000000 meters along route # Maximum depth: 163.474682 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 108.465030 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.834940; longitude = -135.104672; duration = 408; initialDepth = 108.414424; finalDepth = 108.465030; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.743179 # Actual altitude: 54.743179 # Commanded vehicle depth: 108.46503 # Seafloor depth: -163.208209 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 102.194990 meters # Minimum depth: 158.414424 meters looking forward 100.000000 meters along route # Maximum depth: 164.570359 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 108.414424 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.835485; longitude = -135.102431; duration = 408; initialDepth = 112.716484; finalDepth = 108.414424; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.743179 # Actual altitude: 54.743179 # Commanded vehicle depth: 108.414424 # Seafloor depth: -158.414424 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 103.262132 meters # Minimum depth: 162.716484 meters looking forward 100.000000 meters along route # Maximum depth: 164.724687 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 112.716484 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.836031; longitude = -135.100190; duration = 413; initialDepth = 112.295799; finalDepth = 112.716484; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9983 # Actual altitude: 51.9983 # Commanded vehicle depth: 112.716484 # Seafloor depth: -164.714784 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 101.122436 meters # Minimum depth: 162.295799 meters looking forward 100.000000 meters along route # Maximum depth: 168.827962 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 112.295799 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.836582; longitude = -135.097925; duration = 404; initialDepth = 112.220618; finalDepth = 112.295799; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9983 # Actual altitude: 51.9983 # Commanded vehicle depth: 112.295799 # Seafloor depth: -163.247045 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 102.189577 meters # Minimum depth: 162.220618 meters looking forward 100.000000 meters along route # Maximum depth: 168.058038 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 112.220618 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.837122; longitude = -135.095708; duration = 408; initialDepth = 116.360689; finalDepth = 112.220618; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.951246 # Actual altitude: 50.951246 # Commanded vehicle depth: 112.220618 # Seafloor depth: -162.220618 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 102.187772 meters # Minimum depth: 166.360689 meters looking forward 100.000000 meters along route # Maximum depth: 168.270489 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 116.360689 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.837668; longitude = -135.093467; duration = 408; initialDepth = 105.023217; finalDepth = 116.360689; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9098 # Actual altitude: 51.9098 # Commanded vehicle depth: 116.360689 # Seafloor depth: -168.270489 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 102.185968 meters # Minimum depth: 155.023217 meters looking forward 100.000000 meters along route # Maximum depth: 166.548200 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 105.023217 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.838213; longitude = -135.091226; duration = 408; initialDepth = 99.160908; finalDepth = 105.023217; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.43282 # Actual altitude: 61.43282 # Commanded vehicle depth: 105.023217 # Seafloor depth: -166.456037 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 102.271384 meters # Minimum depth: 149.160908 meters looking forward 100.000000 meters along route # Maximum depth: 153.034328 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 99.160908 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.838759; longitude = -135.088985; duration = 409; initialDepth = 102.119805; finalDepth = 99.160908; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.43282 # Actual altitude: 61.43282 # Commanded vehicle depth: 99.160908 # Seafloor depth: -153.034328 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 102.095138 meters # Minimum depth: 152.119805 meters looking forward 100.000000 meters along route # Maximum depth: 157.171709 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 102.119805 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.839305; longitude = -135.086742; duration = 408; initialDepth = 106.201721; finalDepth = 102.119805; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.87342 # Actual altitude: 53.87342 # Commanded vehicle depth: 102.119805 # Seafloor depth: -152.119805 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 102.180554 meters # Minimum depth: 156.201721 meters looking forward 100.000000 meters along route # Maximum depth: 164.315392 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 106.201721 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.839850; longitude = -135.084502; duration = 408; initialDepth = 114.895810; finalDepth = 106.201721; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 106.201721 # Seafloor depth: -156.201721 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 102.178750 meters # Minimum depth: 164.895810 meters looking forward 100.000000 meters along route # Maximum depth: 168.752375 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 114.895810 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.840395; longitude = -135.082261; duration = 408; initialDepth = 103.955666; finalDepth = 114.895810; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 114.89581 # Seafloor depth: -164.895810 # 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 103.966222 meters # Minimum depth: 153.955666 meters looking forward 100.000000 meters along route # Maximum depth: 165.337707 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 103.955666 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.840941; longitude = -135.080020; duration = 415; initialDepth = 100.727788; finalDepth = 103.955666; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.382041 # Actual altitude: 61.382041 # Commanded vehicle depth: 103.955666 # Seafloor depth: -165.337707 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.385864 meters # Minimum depth: 150.727788 meters looking forward 100.000000 meters along route # Maximum depth: 156.724851 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 100.727788 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.841496; longitude = -135.077740; duration = 401; initialDepth = 103.792910; finalDepth = 100.727788; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.382041 # Actual altitude: 61.382041 # Commanded vehicle depth: 100.727788 # Seafloor depth: -155.797193 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 102.173336 meters # Minimum depth: 153.792910 meters looking forward 100.000000 meters along route # Maximum depth: 164.870914 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 103.792910 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.842032; longitude = -135.075538; duration = 408; initialDepth = 113.032227; finalDepth = 103.792910; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.069405 # Actual altitude: 55.069405 # Commanded vehicle depth: 103.79291 # Seafloor depth: -153.792910 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 102.171533 meters # Minimum depth: 163.032227 meters looking forward 100.000000 meters along route # Maximum depth: 166.351004 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 113.032227 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.842578; longitude = -135.073297; duration = 408; initialDepth = 112.544338; finalDepth = 113.032227; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.091275 # Actual altitude: 52.091275 # Commanded vehicle depth: 113.032227 # Seafloor depth: -165.123502 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 102.169727 meters # Minimum depth: 162.544338 meters looking forward 100.000000 meters along route # Maximum depth: 164.325550 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 112.544338 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.843123; longitude = -135.071056; duration = 408; initialDepth = 110.248956; finalDepth = 112.544338; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.091275 # Actual altitude: 52.091275 # Commanded vehicle depth: 112.544338 # Seafloor depth: -163.490997 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 102.975569 meters # Minimum depth: 160.248956 meters looking forward 100.000000 meters along route # Maximum depth: 163.359484 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 110.248956 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.843669; longitude = -135.068815; duration = 411; initialDepth = 110.382336; finalDepth = 110.248956; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.082758 # Actual altitude: 52.082758 # Commanded vehicle depth: 110.248956 # Seafloor depth: -162.331714 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 101.358474 meters # Minimum depth: 160.382336 meters looking forward 100.000000 meters along route # Maximum depth: 164.452077 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 110.382336 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.844219; longitude = -135.066556; duration = 405; initialDepth = 110.023201; finalDepth = 110.382336; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.060307 # Actual altitude: 53.060307 # Commanded vehicle depth: 110.382336 # Seafloor depth: -163.442643 # 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 36 # Segment length 102.164315 meters # Minimum depth: 160.023201 meters looking forward 100.000000 meters along route # Maximum depth: 164.188598 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 110.023201 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.844760; longitude = -135.064333; duration = 408; initialDepth = 111.999377; finalDepth = 110.023201; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.060307 # Actual altitude: 53.060307 # Commanded vehicle depth: 110.023201 # Seafloor depth: -161.343313 # 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 36 # Segment length 102.162511 meters # Minimum depth: 161.999377 meters looking forward 100.000000 meters along route # Maximum depth: 165.443477 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 111.999377 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.845305; longitude = -135.062092; duration = 408; initialDepth = 114.715359; finalDepth = 111.999377; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.722428 # Actual altitude: 52.722428 # Commanded vehicle depth: 111.999377 # Seafloor depth: -164.721805 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 104.670085 meters # Minimum depth: 164.715359 meters looking forward 100.000000 meters along route # Maximum depth: 166.404844 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 114.715359 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.845851; longitude = -135.059851; duration = 418; initialDepth = 104.140459; finalDepth = 114.715359; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.722428 # Actual altitude: 52.722428 # Commanded vehicle depth: 114.715359 # Seafloor depth: -164.715359 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 111.910054 meters # Minimum depth: 154.140459 meters looking forward 100.000000 meters along route # Maximum depth: 166.183853 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 104.140459 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.846410; longitude = -135.057555; duration = 447; initialDepth = 93.573203; finalDepth = 104.140459; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.043394 # Actual altitude: 62.043394 # Commanded vehicle depth: 104.140459 # Seafloor depth: -166.183853 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 111.907888 meters # Minimum depth: 143.573203 meters looking forward 100.000000 meters along route # Maximum depth: 152.987622 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 93.573203 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.847007; longitude = -135.055100; duration = 447; initialDepth = 81.645116; finalDepth = 93.573203; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.043394 # Actual altitude: 62.043394 # Commanded vehicle depth: 93.573203 # Seafloor depth: -152.987622 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 111.905723 meters # Minimum depth: 131.645116 meters looking forward 100.000000 meters along route # Maximum depth: 141.164151 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 81.645116 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.847605; longitude = -135.052645; duration = 447; initialDepth = 84.049575; finalDepth = 81.645116; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.519035 # Actual altitude: 59.519035 # Commanded vehicle depth: 81.645116 # Seafloor depth: -141.164151 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 111.903559 meters # Minimum depth: 134.049575 meters looking forward 100.000000 meters along route # Maximum depth: 135.190241 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 84.049575 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.848203; longitude = -135.050190; duration = 447; initialDepth = 82.938402; finalDepth = 84.049575; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.519035 # Actual altitude: 59.519035 # Commanded vehicle depth: 84.049575 # Seafloor depth: -134.049575 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 107.799671 meters # Minimum depth: 132.938402 meters looking forward 100.000000 meters along route # Maximum depth: 134.099836 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 82.938402 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.848800; longitude = -135.047735; duration = 431; initialDepth = 82.791252; finalDepth = 82.938402; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.161434 # Actual altitude: 51.161434 # Commanded vehicle depth: 82.938402 # Seafloor depth: -134.099836 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 35 # Segment length 149.987351 meters # Minimum depth: 132.791252 meters looking forward 100.000000 meters along route # Maximum depth: 135.521809 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 82.791252 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.849376; longitude = -135.045370; duration = 599; # abortOnTimeout = True; initialDepth = 85.461685; finalDepth = 82.791252; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.161434 # Actual altitude: 51.161434 # Commanded vehicle depth: 82.791252 # Seafloor depth: -132.791252 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 34 # Segment length 147.414215 meters # Minimum depth: 135.461685 meters looking forward 100.000000 meters along route # Maximum depth: 147.505468 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 85.461685 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.850457; longitude = -135.047807; duration = 589; # abortOnTimeout = True; initialDepth = 96.515386; finalDepth = 85.461685; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 85.461685 # Seafloor depth: -135.461685 # 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 34 # Segment length 102.148401 meters # Minimum depth: 146.515386 meters looking forward 100.000000 meters along route # Maximum depth: 155.346900 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 96.515386 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.849670; longitude = -135.051041; duration = 408; initialDepth = 103.981623; finalDepth = 96.515386; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 96.515386 # Seafloor depth: -146.515386 # 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 34 # Segment length 102.150206 meters # Minimum depth: 153.981623 meters looking forward 100.000000 meters along route # Maximum depth: 155.399081 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 103.981623 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.849124; longitude = -135.053282; duration = 408; initialDepth = 105.064626; finalDepth = 103.981623; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.360676 # Actual altitude: 51.360676 # Commanded vehicle depth: 103.981623 # Seafloor depth: -155.342299 # 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 34 # Segment length 102.152009 meters # Minimum depth: 155.064626 meters looking forward 100.000000 meters along route # Maximum depth: 164.827570 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 105.064626 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.848579; longitude = -135.055523; duration = 408; initialDepth = 115.387454; finalDepth = 105.064626; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.360676 # Actual altitude: 51.360676 # Commanded vehicle depth: 105.064626 # Seafloor depth: -155.064626 # 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 34 # Segment length 102.365774 meters # Minimum depth: 165.387454 meters looking forward 100.000000 meters along route # Maximum depth: 167.252460 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 115.387454 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.848033; longitude = -135.057764; duration = 409; initialDepth = 110.533422; finalDepth = 115.387454; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 115.387454 # Seafloor depth: -165.387454 # 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 34 # Segment length 101.943656 meters # Minimum depth: 160.533422 meters looking forward 100.000000 meters along route # Maximum depth: 167.235723 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 110.533422 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.847486; longitude = -135.060010; duration = 407; initialDepth = 112.707057; finalDepth = 110.533422; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.702301 # Actual altitude: 56.702301 # Commanded vehicle depth: 110.533422 # Seafloor depth: -167.235723 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 102.157422 meters # Minimum depth: 162.707057 meters looking forward 100.000000 meters along route # Maximum depth: 167.460341 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 112.707057 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.846942; longitude = -135.062246; duration = 408; initialDepth = 117.006108; finalDepth = 112.707057; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.702301 # Actual altitude: 56.702301 # Commanded vehicle depth: 112.707057 # Seafloor depth: -162.707057 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 102.159226 meters # Minimum depth: 167.006108 meters looking forward 100.000000 meters along route # Maximum depth: 168.324237 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 117.006108 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.846396; longitude = -135.064487; duration = 408; initialDepth = 117.014680; finalDepth = 117.006108; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.616231 # Actual altitude: 50.616231 # Commanded vehicle depth: 117.006108 # Seafloor depth: -167.622339 # 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 34 # Segment length 104.084060 meters # Minimum depth: 167.014680 meters looking forward 100.000000 meters along route # Maximum depth: 170.492996 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 117.014680 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.845851; longitude = -135.066728; duration = 416; initialDepth = 119.599080; finalDepth = 117.014680; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.616231 # Actual altitude: 50.616231 # Commanded vehicle depth: 117.01468 # Seafloor depth: -167.066311 # 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 34 # Segment length 100.239803 meters # Minimum depth: 169.599080 meters looking forward 100.000000 meters along route # Maximum depth: 170.704608 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 119.599080 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.845295; longitude = -135.069011; duration = 400; initialDepth = 114.886602; finalDepth = 119.599080; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.930135 # Actual altitude: 50.930135 # Commanded vehicle depth: 119.59908 # Seafloor depth: -170.529215 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 102.164639 meters # Minimum depth: 164.886602 meters looking forward 100.000000 meters along route # Maximum depth: 169.536901 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 114.886602 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.844760; longitude = -135.071210; duration = 408; initialDepth = 114.061567; finalDepth = 114.886602; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.650299 # Actual altitude: 54.650299 # Commanded vehicle depth: 114.886602 # Seafloor depth: -169.536901 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 102.166442 meters # Minimum depth: 164.061567 meters looking forward 100.000000 meters along route # Maximum depth: 166.144124 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 114.061567 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.844214; longitude = -135.073451; duration = 408; initialDepth = 114.686453; finalDepth = 114.061567; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.650299 # Actual altitude: 54.650299 # Commanded vehicle depth: 114.061567 # Seafloor depth: -165.867048 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 102.168247 meters # Minimum depth: 164.686453 meters looking forward 100.000000 meters along route # Maximum depth: 168.406603 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 114.686453 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.843669; longitude = -135.075692; duration = 408; initialDepth = 119.197087; finalDepth = 114.686453; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.805481 # Actual altitude: 51.805481 # Commanded vehicle depth: 114.686453 # Seafloor depth: -164.686453 # 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 34 # Segment length 103.123205 meters # Minimum depth: 169.197087 meters looking forward 100.000000 meters along route # Maximum depth: 170.386452 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 119.197087 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.843123; longitude = -135.077933; duration = 412; initialDepth = 106.925822; finalDepth = 119.197087; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 119.197087 # Seafloor depth: -169.197087 # 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 34 # Segment length 101.218702 meters # Minimum depth: 156.925822 meters looking forward 100.000000 meters along route # Maximum depth: 169.283159 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 106.925822 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.842572; longitude = -135.080195; duration = 404; initialDepth = 107.065812; finalDepth = 106.925822; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.357337 # Actual altitude: 62.357337 # Commanded vehicle depth: 106.925822 # Seafloor depth: -169.283159 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 102.173660 meters # Minimum depth: 157.065812 meters looking forward 100.000000 meters along route # Maximum depth: 161.378298 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 107.065812 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.842032; longitude = -135.082415; duration = 408; initialDepth = 107.874232; finalDepth = 107.065812; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.357337 # Actual altitude: 62.357337 # Commanded vehicle depth: 107.065812 # Seafloor depth: -157.065812 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 102.175464 meters # Minimum depth: 157.874232 meters looking forward 100.000000 meters along route # Maximum depth: 167.650323 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 107.874232 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.841486; longitude = -135.084656; duration = 408; initialDepth = 115.983240; finalDepth = 107.874232; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.431276 # Actual altitude: 51.431276 # Commanded vehicle depth: 107.874232 # Seafloor depth: -159.305508 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 102.177269 meters # Minimum depth: 165.983240 meters looking forward 100.000000 meters along route # Maximum depth: 167.887051 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 115.983240 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.840941; longitude = -135.086897; duration = 408; initialDepth = 113.378703; finalDepth = 115.983240; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.903811 # Actual altitude: 51.903811 # Commanded vehicle depth: 115.98324 # Seafloor depth: -167.887051 # 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 34 # Segment length 102.179073 meters # Minimum depth: 163.378703 meters looking forward 100.000000 meters along route # Maximum depth: 173.044244 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 113.378703 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.840395; longitude = -135.089138; duration = 408; initialDepth = 116.263228; finalDepth = 113.378703; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.040799 # Actual altitude: 53.040799 # Commanded vehicle depth: 113.378703 # Seafloor depth: -166.419502 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 102.180877 meters # Minimum depth: 166.263228 meters looking forward 100.000000 meters along route # Maximum depth: 173.044124 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 116.263228 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.839850; longitude = -135.091379; duration = 408; initialDepth = 116.295855; finalDepth = 116.263228; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.780896 # Actual altitude: 56.780896 # Commanded vehicle depth: 116.263228 # Seafloor depth: -173.044124 # 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 34 # Segment length 102.182683 meters # Minimum depth: 166.295855 meters looking forward 100.000000 meters along route # Maximum depth: 170.097963 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 116.295855 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.839304; longitude = -135.093620; duration = 408; initialDepth = 120.134453; finalDepth = 116.295855; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.780896 # Actual altitude: 56.780896 # Commanded vehicle depth: 116.295855 # Seafloor depth: -166.295855 # 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 34 # Segment length 102.184486 meters # Minimum depth: 170.134453 meters looking forward 100.000000 meters along route # Maximum depth: 170.759177 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 120.134453 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.838759; longitude = -135.095861; duration = 408; initialDepth = 107.781102; finalDepth = 120.134453; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 120.134453 # Seafloor depth: -170.134453 # 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 34 # Segment length 103.880874 meters # Minimum depth: 157.781102 meters looking forward 100.000000 meters along route # Maximum depth: 171.290864 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 107.781102 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.838213; longitude = -135.098102; duration = 415; initialDepth = 107.785744; finalDepth = 107.781102; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.368039 # Actual altitude: 63.368039 # Commanded vehicle depth: 107.781102 # Seafloor depth: -171.149141 # 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 34 # Segment length 100.493514 meters # Minimum depth: 157.785744 meters looking forward 100.000000 meters along route # Maximum depth: 166.893492 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 107.785744 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.837659; longitude = -135.100380; duration = 401; initialDepth = 114.080858; finalDepth = 107.785744; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.368039 # Actual altitude: 63.368039 # Commanded vehicle depth: 107.785744 # Seafloor depth: -157.785744 # 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 34 # Segment length 102.189900 meters # Minimum depth: 164.080858 meters looking forward 100.000000 meters along route # Maximum depth: 167.368643 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 114.080858 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.837122; longitude = -135.102584; duration = 408; initialDepth = 110.312620; finalDepth = 114.080858; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.819836 # Actual altitude: 52.819836 # Commanded vehicle depth: 114.080858 # Seafloor depth: -166.900694 # 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 34 # Segment length 102.191705 meters # Minimum depth: 160.312620 meters looking forward 100.000000 meters along route # Maximum depth: 165.951273 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 110.312620 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.836577; longitude = -135.104825; duration = 408; initialDepth = 107.177599; finalDepth = 110.312620; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.181231 # Actual altitude: 54.181231 # Commanded vehicle depth: 110.31262 # Seafloor depth: -164.493851 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 102.193510 meters # Minimum depth: 157.177599 meters looking forward 100.000000 meters along route # Maximum depth: 165.570463 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 107.177599 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.836031; longitude = -135.107066; duration = 408; initialDepth = 98.277882; finalDepth = 107.177599; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.392864 # Actual altitude: 58.392864 # Commanded vehicle depth: 107.177599 # Seafloor depth: -165.570463 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 102.919761 meters # Minimum depth: 148.277882 meters looking forward 100.000000 meters along route # Maximum depth: 160.162128 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 98.277882 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.835485; longitude = -135.109307; duration = 411; initialDepth = 97.004314; finalDepth = 98.277882; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.748251 # Actual altitude: 59.748251 # Commanded vehicle depth: 98.277882 # Seafloor depth: -158.026133 # 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 34 # Segment length 101.472673 meters # Minimum depth: 147.004314 meters looking forward 100.000000 meters along route # Maximum depth: 151.176898 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 97.004314 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.834936; longitude = -135.111564; duration = 405; initialDepth = 90.487420; finalDepth = 97.004314; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.748251 # Actual altitude: 59.748251 # Commanded vehicle depth: 97.004314 # Seafloor depth: -148.175825 # 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 34 # Segment length 102.198925 meters # Minimum depth: 140.487420 meters looking forward 100.000000 meters along route # Maximum depth: 149.207342 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 90.487420 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.834394; longitude = -135.113789; duration = 408; initialDepth = 82.565006; finalDepth = 90.487420; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.719922 # Actual altitude: 58.719922 # Commanded vehicle depth: 90.48742 # Seafloor depth: -149.207342 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 102.200728 meters # Minimum depth: 132.565006 meters looking forward 100.000000 meters along route # Maximum depth: 149.606034 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 82.565006 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.833849; longitude = -135.116030; duration = 408; initialDepth = 74.061328; finalDepth = 82.565006; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.184993 # Actual altitude: 59.184993 # Commanded vehicle depth: 82.565006 # Seafloor depth: -141.749999 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 102.202534 meters # Minimum depth: 124.061328 meters looking forward 100.000000 meters along route # Maximum depth: 129.415575 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 74.061328 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.833303; longitude = -135.118271; duration = 408; initialDepth = 75.052614; finalDepth = 74.061328; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.184993 # Actual altitude: 59.184993 # Commanded vehicle depth: 74.061328 # Seafloor depth: -129.415575 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 102.204339 meters # Minimum depth: 125.052614 meters looking forward 100.000000 meters along route # Maximum depth: 130.411921 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 75.052614 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.832758; longitude = -135.120512; duration = 408; initialDepth = 77.811527; finalDepth = 75.052614; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.354247 # Actual altitude: 55.354247 # Commanded vehicle depth: 75.052614 # Seafloor depth: -125.052614 # 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 34 # Segment length 102.206144 meters # Minimum depth: 127.811527 meters looking forward 100.000000 meters along route # Maximum depth: 142.182231 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 77.811527 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.832212; longitude = -135.122753; duration = 408; initialDepth = 93.428060; finalDepth = 77.811527; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.473035 # Actual altitude: 52.473035 # Commanded vehicle depth: 77.811527 # Seafloor depth: -130.284562 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 102.207948 meters # Minimum depth: 143.428060 meters looking forward 100.000000 meters along route # Maximum depth: 164.741222 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 93.428060 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.831667; longitude = -135.124994; duration = 408; initialDepth = 99.289227; finalDepth = 93.428060; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.473035 # Actual altitude: 52.473035 # Commanded vehicle depth: 93.42806 # Seafloor depth: -143.428060 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 102.209753 meters # Minimum depth: 149.289227 meters looking forward 100.000000 meters along route # Maximum depth: 154.557377 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 99.289227 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.831121; longitude = -135.127235; duration = 408; initialDepth = 99.051265; finalDepth = 99.289227; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.864649 # Actual altitude: 51.864649 # Commanded vehicle depth: 99.289227 # Seafloor depth: -151.153876 # 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 34 # Segment length 103.677580 meters # Minimum depth: 149.051265 meters looking forward 100.000000 meters along route # Maximum depth: 158.132210 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 99.051265 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.830576; longitude = -135.129476; duration = 414; initialDepth = 95.524502; finalDepth = 99.051265; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.626893 # Actual altitude: 56.626893 # Commanded vehicle depth: 99.051265 # Seafloor depth: -155.678158 # 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 34 # Segment length 111.972496 meters # Minimum depth: 145.524502 meters looking forward 100.000000 meters along route # Maximum depth: 164.711079 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 95.524502 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.830022; longitude = -135.131749; duration = 447; initialDepth = 95.976110; finalDepth = 95.524502; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.626893 # Actual altitude: 56.626893 # Commanded vehicle depth: 95.524502 # Seafloor depth: -148.392308 # 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 34 # Segment length 111.974663 meters # Minimum depth: 145.976110 meters looking forward 100.000000 meters along route # Maximum depth: 164.729426 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 95.976110 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.829425; longitude = -135.134204; duration = 447; initialDepth = 94.930851; finalDepth = 95.976110; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.753316 # Actual altitude: 68.753316 # Commanded vehicle depth: 95.97611 # Seafloor depth: -164.729426 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 111.976828 meters # Minimum depth: 144.930851 meters looking forward 100.000000 meters along route # Maximum depth: 157.678825 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 94.930851 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.828827; longitude = -135.136659; duration = 447; initialDepth = 103.158928; finalDepth = 94.930851; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.753316 # Actual altitude: 68.753316 # Commanded vehicle depth: 94.930851 # Seafloor depth: -144.930851 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 110.975063 meters # Minimum depth: 153.158928 meters looking forward 100.000000 meters along route # Maximum depth: 158.625708 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 103.158928 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.828229; longitude = -135.139114; duration = 443; initialDepth = 100.730585; finalDepth = 103.158928; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 103.158928 # Seafloor depth: -153.158928 # 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 33 # Segment length 149.999214 meters # Minimum depth: 150.730585 meters looking forward 100.000000 meters along route # Maximum depth: 159.546237 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 100.730585 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.827637; longitude = -135.141547; duration = 599; # abortOnTimeout = True; initialDepth = 91.190470; finalDepth = 100.730585; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 56.210741 # Actual altitude: 56.210741 # Commanded vehicle depth: 100.730585 # Seafloor depth: -156.941326 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 32 # Segment length 143.786941 meters # Minimum depth: 141.190470 meters looking forward 100.000000 meters along route # Maximum depth: 154.649746 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 91.190470 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.828717; longitude = -135.143986; duration = 575; # abortOnTimeout = True; initialDepth = 85.163766; finalDepth = 91.190470; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.007005 # Actual altitude: 61.007005 # Commanded vehicle depth: 91.19047 # Seafloor depth: -152.197475 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 103.317594 meters # Minimum depth: 135.163766 meters looking forward 100.000000 meters along route # Maximum depth: 141.099022 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 85.163766 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.829484; longitude = -135.140834; duration = 413; initialDepth = 89.450243; finalDepth = 85.163766; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.007005 # Actual altitude: 61.007005 # Commanded vehicle depth: 85.163766 # Seafloor depth: -138.572572 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 101.098583 meters # Minimum depth: 139.450243 meters looking forward 100.000000 meters along route # Maximum depth: 150.550016 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 89.450243 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.830036; longitude = -135.138569; duration = 404; initialDepth = 100.409245; finalDepth = 89.450243; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.408806 # Actual altitude: 53.408806 # Commanded vehicle depth: 89.450243 # Seafloor depth: -139.450243 # 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 32 # Segment length 102.205381 meters # Minimum depth: 150.409245 meters looking forward 100.000000 meters along route # Maximum depth: 157.680899 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 100.409245 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.830576; longitude = -135.136352; duration = 408; initialDepth = 98.371663; finalDepth = 100.409245; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.736944 # Actual altitude: 50.736944 # Commanded vehicle depth: 100.409245 # Seafloor depth: -151.146189 # 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 32 # Segment length 102.203577 meters # Minimum depth: 148.371663 meters looking forward 100.000000 meters along route # Maximum depth: 151.557729 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 98.371663 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.831121; longitude = -135.134111; duration = 408; initialDepth = 94.665684; finalDepth = 98.371663; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.060995 # Actual altitude: 52.060995 # Commanded vehicle depth: 98.371663 # Seafloor depth: -150.432658 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 102.201772 meters # Minimum depth: 144.665684 meters looking forward 100.000000 meters along route # Maximum depth: 156.816384 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 94.665684 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.831667; longitude = -135.131870; duration = 408; initialDepth = 97.745133; finalDepth = 94.665684; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.128483 # Actual altitude: 53.128483 # Commanded vehicle depth: 94.665684 # Seafloor depth: -147.794167 # 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 32 # Segment length 102.371975 meters # Minimum depth: 147.745133 meters looking forward 100.000000 meters along route # Maximum depth: 157.721521 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 97.745133 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.832212; longitude = -135.129629; duration = 409; initialDepth = 98.694479; finalDepth = 97.745133; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.976388 # Actual altitude: 59.976388 # Commanded vehicle depth: 97.745133 # Seafloor depth: -157.721521 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 102.026153 meters # Minimum depth: 148.694479 meters looking forward 100.000000 meters along route # Maximum depth: 155.342302 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 98.694479 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.832759; longitude = -135.127385; duration = 408; initialDepth = 98.122903; finalDepth = 98.694479; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.976388 # Actual altitude: 59.976388 # Commanded vehicle depth: 98.694479 # Seafloor depth: -150.496064 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 102.196358 meters # Minimum depth: 148.122903 meters looking forward 100.000000 meters along route # Maximum depth: 156.855375 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 98.122903 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.833303; longitude = -135.125148; duration = 408; initialDepth = 97.850819; finalDepth = 98.122903; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.801585 # Actual altitude: 51.801585 # Commanded vehicle depth: 98.122903 # Seafloor depth: -148.699150 # 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 32 # Segment length 102.194553 meters # Minimum depth: 147.850819 meters looking forward 100.000000 meters along route # Maximum depth: 156.473157 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 97.850819 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.833849; longitude = -135.122907; duration = 408; initialDepth = 90.514440; finalDepth = 97.850819; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.536869 # Actual altitude: 58.536869 # Commanded vehicle depth: 97.850819 # Seafloor depth: -156.387688 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 104.103516 meters # Minimum depth: 140.514440 meters looking forward 100.000000 meters along route # Maximum depth: 151.983469 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 90.514440 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.834394; longitude = -135.120666; duration = 416; initialDepth = 89.814714; finalDepth = 90.514440; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.536869 # Actual altitude: 58.536869 # Commanded vehicle depth: 90.51444 # Seafloor depth: -148.074734 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.280175 meters # Minimum depth: 139.814714 meters looking forward 100.000000 meters along route # Maximum depth: 142.342357 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 89.814714 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.834950; longitude = -135.118383; duration = 401; initialDepth = 90.915661; finalDepth = 89.814714; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.560294 # Actual altitude: 57.560294 # Commanded vehicle depth: 89.814714 # Seafloor depth: -140.300411 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 102.189139 meters # Minimum depth: 140.915661 meters looking forward 100.000000 meters along route # Maximum depth: 146.814038 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 90.915661 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.835485; longitude = -135.116184; duration = 408; initialDepth = 94.742658; finalDepth = 90.915661; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.485697 # Actual altitude: 50.485697 # Commanded vehicle depth: 90.915661 # Seafloor depth: -140.915661 # 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 32 # Segment length 102.187334 meters # Minimum depth: 144.742658 meters looking forward 100.000000 meters along route # Maximum depth: 152.808761 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 94.742658 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.836031; longitude = -135.113943; duration = 408; initialDepth = 102.970112; finalDepth = 94.742658; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.495696 # Actual altitude: 51.495696 # Commanded vehicle depth: 94.742658 # Seafloor depth: -146.238354 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 102.185529 meters # Minimum depth: 152.970112 meters looking forward 100.000000 meters along route # Maximum depth: 156.790051 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 102.970112 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.836577; longitude = -135.111703; duration = 408; initialDepth = 104.395565; finalDepth = 102.970112; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.495696 # Actual altitude: 51.495696 # Commanded vehicle depth: 102.970112 # Seafloor depth: -152.970112 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 103.157979 meters # Minimum depth: 154.395565 meters looking forward 100.000000 meters along route # Maximum depth: 161.886631 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 104.395565 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.837122; longitude = -135.109462; duration = 412; initialDepth = 110.321005; finalDepth = 104.395565; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.022041 # Actual altitude: 50.022041 # Commanded vehicle depth: 104.395565 # Seafloor depth: -154.417606 # 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 32 # Segment length 101.207667 meters # Minimum depth: 160.321005 meters looking forward 100.000000 meters along route # Maximum depth: 163.907419 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 110.321005 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.837673; longitude = -135.107200; duration = 404; initialDepth = 113.728730; finalDepth = 110.321005; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.022041 # Actual altitude: 50.022041 # Commanded vehicle depth: 110.321005 # Seafloor depth: -160.321005 # 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 32 # Segment length 102.180116 meters # Minimum depth: 163.728730 meters looking forward 100.000000 meters along route # Maximum depth: 167.341610 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 113.728730 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.838213; longitude = -135.104980; duration = 408; initialDepth = 102.428097; finalDepth = 113.728730; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.439653 # Actual altitude: 50.439653 # Commanded vehicle depth: 113.72873 # Seafloor depth: -164.168383 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 102.178312 meters # Minimum depth: 152.428097 meters looking forward 100.000000 meters along route # Maximum depth: 162.024241 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 102.428097 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.838759; longitude = -135.102739; duration = 408; initialDepth = 112.956281; finalDepth = 102.428097; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.596144 # Actual altitude: 59.596144 # Commanded vehicle depth: 102.428097 # Seafloor depth: -162.024241 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 102.176507 meters # Minimum depth: 162.956281 meters looking forward 100.000000 meters along route # Maximum depth: 167.031311 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 112.956281 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.839304; longitude = -135.100498; duration = 408; initialDepth = 117.162359; finalDepth = 112.956281; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.596144 # Actual altitude: 59.596144 # Commanded vehicle depth: 112.956281 # Seafloor depth: -162.956281 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 102.212606 meters # Minimum depth: 167.162359 meters looking forward 100.000000 meters along route # Maximum depth: 171.303518 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 117.162359 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.839850; longitude = -135.098258; duration = 408; initialDepth = 112.495436; finalDepth = 117.162359; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.459662 # Actual altitude: 50.459662 # Commanded vehicle depth: 117.162359 # Seafloor depth: -167.622021 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 102.134996 meters # Minimum depth: 162.495436 meters looking forward 100.000000 meters along route # Maximum depth: 168.205056 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 112.495436 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.840396; longitude = -135.096016; duration = 408; initialDepth = 117.598837; finalDepth = 112.495436; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.70962 # Actual altitude: 55.70962 # Commanded vehicle depth: 112.495436 # Seafloor depth: -168.205056 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 102.171094 meters # Minimum depth: 167.598837 meters looking forward 100.000000 meters along route # Maximum depth: 175.571186 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 117.598837 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.840941; longitude = -135.093776; duration = 408; initialDepth = 107.023541; finalDepth = 117.598837; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.70962 # Actual altitude: 55.70962 # Commanded vehicle depth: 117.598837 # Seafloor depth: -167.598837 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 102.169290 meters # Minimum depth: 157.023541 meters looking forward 100.000000 meters along route # Maximum depth: 171.547871 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 107.023541 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.841486; longitude = -135.091535; duration = 408; initialDepth = 106.003458; finalDepth = 107.023541; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.52433 # Actual altitude: 64.52433 # Commanded vehicle depth: 107.023541 # Seafloor depth: -171.547871 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 103.943728 meters # Minimum depth: 156.003458 meters looking forward 100.000000 meters along route # Maximum depth: 162.447845 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 106.003458 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.842032; longitude = -135.089294; duration = 415; initialDepth = 112.905481; finalDepth = 106.003458; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.52433 # Actual altitude: 64.52433 # Commanded vehicle depth: 106.003458 # Seafloor depth: -157.132345 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.389439 meters # Minimum depth: 162.905481 meters looking forward 100.000000 meters along route # Maximum depth: 168.820575 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 112.905481 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.842587; longitude = -135.087014; duration = 401; initialDepth = 107.278074; finalDepth = 112.905481; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.128887 # Actual altitude: 51.128887 # Commanded vehicle depth: 112.905481 # Seafloor depth: -162.905481 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 102.163877 meters # Minimum depth: 157.278074 meters looking forward 100.000000 meters along route # Maximum depth: 167.335397 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 107.278074 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.843123; longitude = -135.084812; duration = 408; initialDepth = 118.120005; finalDepth = 107.278074; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.705284 # Actual altitude: 55.705284 # Commanded vehicle depth: 107.278074 # Seafloor depth: -162.983358 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 102.162073 meters # Minimum depth: 168.120005 meters looking forward 100.000000 meters along route # Maximum depth: 170.888455 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 118.120005 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.843669; longitude = -135.082572; duration = 408; initialDepth = 119.363683; finalDepth = 118.120005; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.705284 # Actual altitude: 55.705284 # Commanded vehicle depth: 118.120005 # Seafloor depth: -168.120005 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 102.160269 meters # Minimum depth: 169.363683 meters looking forward 100.000000 meters along route # Maximum depth: 170.385941 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 119.363683 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.844214; longitude = -135.080331; duration = 408; initialDepth = 120.432718; finalDepth = 119.363683; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.929178 # Actual altitude: 50.929178 # Commanded vehicle depth: 119.363683 # Seafloor depth: -170.292861 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 102.998435 meters # Minimum depth: 170.432718 meters looking forward 100.000000 meters along route # Maximum depth: 171.239281 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 120.432718 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.844760; longitude = -135.078090; duration = 411; initialDepth = 116.686353; finalDepth = 120.432718; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.929178 # Actual altitude: 50.929178 # Commanded vehicle depth: 120.432718 # Seafloor depth: -170.483694 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 101.316691 meters # Minimum depth: 166.686353 meters looking forward 100.000000 meters along route # Maximum depth: 171.365219 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 116.686353 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.845310; longitude = -135.075831; duration = 405; initialDepth = 118.022443; finalDepth = 116.686353; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.870282 # Actual altitude: 53.870282 # Commanded vehicle depth: 116.686353 # Seafloor depth: -170.556635 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 102.154856 meters # Minimum depth: 168.022443 meters looking forward 100.000000 meters along route # Maximum depth: 173.152771 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 118.022443 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.845851; longitude = -135.073608; duration = 408; initialDepth = 118.868017; finalDepth = 118.022443; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.870282 # Actual altitude: 53.870282 # Commanded vehicle depth: 118.022443 # Seafloor depth: -170.260879 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 102.153053 meters # Minimum depth: 168.868017 meters looking forward 100.000000 meters along route # Maximum depth: 173.551915 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 118.868017 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.846396; longitude = -135.071367; duration = 408; initialDepth = 115.002903; finalDepth = 118.868017; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.683898 # Actual altitude: 54.683898 # Commanded vehicle depth: 118.868017 # Seafloor depth: -173.551915 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 102.151248 meters # Minimum depth: 165.002903 meters looking forward 100.000000 meters along route # Maximum depth: 170.132913 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 115.002903 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.846942; longitude = -135.069127; duration = 408; initialDepth = 113.340113; finalDepth = 115.002903; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.13001 # Actual altitude: 55.13001 # Commanded vehicle depth: 115.002903 # Seafloor depth: -170.132913 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 102.149445 meters # Minimum depth: 163.340113 meters looking forward 100.000000 meters along route # Maximum depth: 167.336105 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 113.340113 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.847487; longitude = -135.066886; duration = 408; initialDepth = 104.030605; finalDepth = 113.340113; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.13001 # Actual altitude: 55.13001 # Commanded vehicle depth: 113.340113 # Seafloor depth: -164.483833 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 102.147640 meters # Minimum depth: 154.030605 meters looking forward 100.000000 meters along route # Maximum depth: 164.198837 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 104.030605 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.848033; longitude = -135.064645; duration = 408; initialDepth = 93.387667; finalDepth = 104.030605; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.168232 # Actual altitude: 60.168232 # Commanded vehicle depth: 104.030605 # Seafloor depth: -164.198837 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 109.135622 meters # Minimum depth: 143.387667 meters looking forward 100.000000 meters along route # Maximum depth: 153.280785 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 93.387667 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.848579; longitude = -135.062404; duration = 436; initialDepth = 94.023268; finalDepth = 93.387667; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.168232 # Actual altitude: 60.168232 # Commanded vehicle depth: 93.387667 # Seafloor depth: -153.280785 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 111.903613 meters # Minimum depth: 144.023268 meters looking forward 100.000000 meters along route # Maximum depth: 150.414640 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 94.023268 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.849161; longitude = -135.060010; duration = 447; initialDepth = 90.432621; finalDepth = 94.023268; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.893118 # Actual altitude: 59.893118 # Commanded vehicle depth: 94.023268 # Seafloor depth: -144.023268 # 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 32 # Segment length 111.901448 meters # Minimum depth: 140.432621 meters looking forward 100.000000 meters along route # Maximum depth: 149.991284 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 90.432621 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.849759; longitude = -135.057555; duration = 447; initialDepth = 90.700461; finalDepth = 90.432621; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.558663 # Actual altitude: 59.558663 # Commanded vehicle depth: 90.432621 # Seafloor depth: -149.991284 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 111.899283 meters # Minimum depth: 140.700461 meters looking forward 100.000000 meters along route # Maximum depth: 153.201092 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 90.700461 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.850357; longitude = -135.055100; duration = 447; initialDepth = 93.281728; finalDepth = 90.700461; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.558663 # Actual altitude: 59.558663 # Commanded vehicle depth: 90.700461 # Seafloor depth: -140.700461 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 109.432793 meters # Minimum depth: 143.281728 meters looking forward 100.000000 meters along route # Maximum depth: 150.449777 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 93.281728 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.850954; longitude = -135.052645; duration = 437; initialDepth = 94.010590; finalDepth = 93.281728; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 57.168049 # Actual altitude: 57.168049 # Commanded vehicle depth: 93.281728 # Seafloor depth: -150.449777 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 31 # Segment length 150.003389 meters # Minimum depth: 144.010590 meters looking forward 100.000000 meters along route # Maximum depth: 150.670597 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 94.010590 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.851539; longitude = -135.050244; duration = 600; # abortOnTimeout = True; initialDepth = 99.894025; finalDepth = 94.010590; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 57.168049 # Actual altitude: 57.168049 # Commanded vehicle depth: 94.01059 # Seafloor depth: -144.010590 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 30 # Segment length 143.803383 meters # Minimum depth: 149.894025 meters looking forward 100.000000 meters along route # Maximum depth: 151.518103 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 99.894025 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.852620; longitude = -135.052682; duration = 575; # abortOnTimeout = True; initialDepth = 98.572029; finalDepth = 99.894025; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.780757 # Actual altitude: 50.780757 # Commanded vehicle depth: 99.894025 # Seafloor depth: -150.674782 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 103.161900 meters # Minimum depth: 148.572029 meters looking forward 100.000000 meters along route # Maximum depth: 149.594320 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 98.572029 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.851852; longitude = -135.055837; duration = 412; initialDepth = 99.040898; finalDepth = 98.572029; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.022291 # Actual altitude: 51.022291 # Commanded vehicle depth: 98.572029 # Seafloor depth: -149.594320 # 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 30 # Segment length 101.110579 meters # Minimum depth: 149.040898 meters looking forward 100.000000 meters along route # Maximum depth: 157.054049 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 99.040898 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.851301; longitude = -135.058100; duration = 404; initialDepth = 107.253784; finalDepth = 99.040898; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.022291 # Actual altitude: 51.022291 # Commanded vehicle depth: 99.040898 # Seafloor depth: -149.040898 # 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 30 # Segment length 102.138945 meters # Minimum depth: 157.253784 meters looking forward 100.000000 meters along route # Maximum depth: 160.810875 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 107.253784 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.850761; longitude = -135.060319; duration = 408; initialDepth = 109.219521; finalDepth = 107.253784; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 107.253784 # Seafloor depth: -157.253784 # 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 102.140748 meters # Minimum depth: 159.219521 meters looking forward 100.000000 meters along route # Maximum depth: 162.364782 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 109.219521 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.850215; longitude = -135.062559; duration = 408; initialDepth = 107.922296; finalDepth = 109.219521; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.482064 # Actual altitude: 51.482064 # Commanded vehicle depth: 109.219521 # Seafloor depth: -160.701585 # 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 30 # Segment length 102.142553 meters # Minimum depth: 157.922296 meters looking forward 100.000000 meters along route # Maximum depth: 166.273385 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 107.922296 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.849670; longitude = -135.064800; duration = 408; initialDepth = 116.013381; finalDepth = 107.922296; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.482064 # Actual altitude: 51.482064 # Commanded vehicle depth: 107.922296 # Seafloor depth: -159.010637 # 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 30 # Segment length 102.246468 meters # Minimum depth: 166.013381 meters looking forward 100.000000 meters along route # Maximum depth: 171.400462 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 116.013381 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.849124; longitude = -135.067041; duration = 408; initialDepth = 117.366672; finalDepth = 116.013381; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.088341 # Actual altitude: 51.088341 # Commanded vehicle depth: 116.013381 # Seafloor depth: -166.921600 # 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 30 # Segment length 102.044049 meters # Minimum depth: 167.366672 meters looking forward 100.000000 meters along route # Maximum depth: 171.384211 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 117.366672 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.848578; longitude = -135.069284; duration = 408; initialDepth = 117.616728; finalDepth = 117.366672; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.017539 # Actual altitude: 54.017539 # Commanded vehicle depth: 117.366672 # Seafloor depth: -171.384211 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 102.147964 meters # Minimum depth: 167.616728 meters looking forward 100.000000 meters along route # Maximum depth: 175.108771 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 117.616728 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.848033; longitude = -135.071523; duration = 408; initialDepth = 119.810105; finalDepth = 117.616728; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.017539 # Actual altitude: 54.017539 # Commanded vehicle depth: 117.616728 # Seafloor depth: -168.257468 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 102.149769 meters # Minimum depth: 169.810105 meters looking forward 100.000000 meters along route # Maximum depth: 174.406686 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 119.810105 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.847487; longitude = -135.073763; duration = 408; initialDepth = 119.541465; finalDepth = 119.810105; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.596581 # Actual altitude: 54.596581 # Commanded vehicle depth: 119.810105 # Seafloor depth: -174.406686 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 104.001018 meters # Minimum depth: 169.541465 meters looking forward 100.000000 meters along route # Maximum depth: 170.389286 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 119.541465 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.846942; longitude = -135.076004; duration = 416; initialDepth = 119.567521; finalDepth = 119.541465; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.596581 # Actual altitude: 54.596581 # Commanded vehicle depth: 119.541465 # Seafloor depth: -169.666020 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.303931 meters # Minimum depth: 169.567521 meters looking forward 100.000000 meters along route # Maximum depth: 172.049254 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 119.567521 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.846387; longitude = -135.078286; duration = 401; initialDepth = 118.753482; finalDepth = 119.567521; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.482073 # Actual altitude: 50.482073 # Commanded vehicle depth: 119.567521 # Seafloor depth: -170.049594 # 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 30 # Segment length 102.155180 meters # Minimum depth: 168.753482 meters looking forward 100.000000 meters along route # Maximum depth: 173.096178 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 118.753482 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.845851; longitude = -135.080486; duration = 408; initialDepth = 106.608766; finalDepth = 118.753482; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.26654 # Actual altitude: 53.26654 # Commanded vehicle depth: 118.753482 # Seafloor depth: -172.020022 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 102.156985 meters # Minimum depth: 156.608766 meters looking forward 100.000000 meters along route # Maximum depth: 173.176596 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 106.608766 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.845305; longitude = -135.082727; duration = 408; initialDepth = 110.809567; finalDepth = 106.608766; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.56783 # Actual altitude: 66.56783 # Commanded vehicle depth: 106.608766 # Seafloor depth: -173.176596 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 102.158789 meters # Minimum depth: 160.809567 meters looking forward 100.000000 meters along route # Maximum depth: 170.713039 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 110.809567 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.844760; longitude = -135.084967; duration = 408; initialDepth = 120.970055; finalDepth = 110.809567; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.56783 # Actual altitude: 66.56783 # Commanded vehicle depth: 110.809567 # Seafloor depth: -160.809567 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 103.085513 meters # Minimum depth: 170.970055 meters looking forward 100.000000 meters along route # Maximum depth: 173.258938 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 120.970055 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.844214; longitude = -135.087208; duration = 412; initialDepth = 122.248334; finalDepth = 120.970055; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 120.970055 # Seafloor depth: -170.970055 # 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 101.237477 meters # Minimum depth: 172.248334 meters looking forward 100.000000 meters along route # Maximum depth: 174.668261 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 122.248334 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.843664; longitude = -135.089469; duration = 404; initialDepth = 114.270669; finalDepth = 122.248334; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.235126 # Actual altitude: 50.235126 # Commanded vehicle depth: 122.248334 # Seafloor depth: -172.483460 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 102.164201 meters # Minimum depth: 164.270669 meters looking forward 100.000000 meters along route # Maximum depth: 174.569142 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 114.270669 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.843123; longitude = -135.091690; duration = 408; initialDepth = 113.266131; finalDepth = 114.270669; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.298473 # Actual altitude: 60.298473 # Commanded vehicle depth: 114.270669 # Seafloor depth: -174.569142 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 102.166005 meters # Minimum depth: 163.266131 meters looking forward 100.000000 meters along route # Maximum depth: 168.865883 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 113.266131 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.842578; longitude = -135.093931; duration = 408; initialDepth = 119.184604; finalDepth = 113.266131; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.298473 # Actual altitude: 60.298473 # Commanded vehicle depth: 113.266131 # Seafloor depth: -164.230511 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 102.167810 meters # Minimum depth: 169.184604 meters looking forward 100.000000 meters along route # Maximum depth: 171.415874 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 119.184604 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.842032; longitude = -135.096171; duration = 408; initialDepth = 117.424268; finalDepth = 119.184604; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.96438 # Actual altitude: 50.96438 # Commanded vehicle depth: 119.184604 # Seafloor depth: -169.510814 # 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 30 # Segment length 102.169846 meters # Minimum depth: 167.424268 meters looking forward 100.000000 meters along route # Maximum depth: 171.553283 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 117.424268 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.841486; longitude = -135.098412; duration = 408; initialDepth = 117.424274; finalDepth = 117.424268; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.639726 # Actual altitude: 52.639726 # Commanded vehicle depth: 117.424268 # Seafloor depth: -170.063994 # 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 30 # Segment length 102.171187 meters # Minimum depth: 167.424274 meters looking forward 100.000000 meters along route # Maximum depth: 170.816290 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 117.424274 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.840941; longitude = -135.100653; duration = 408; initialDepth = 111.192819; finalDepth = 117.424274; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.639726 # Actual altitude: 52.639726 # Commanded vehicle depth: 117.424274 # Seafloor depth: -167.424274 # 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 30 # Segment length 102.173222 meters # Minimum depth: 161.192819 meters looking forward 100.000000 meters along route # Maximum depth: 169.274354 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 111.192819 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.840395; longitude = -135.102894; duration = 408; initialDepth = 109.824758; finalDepth = 111.192819; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.363264 # Actual altitude: 57.363264 # Commanded vehicle depth: 111.192819 # Seafloor depth: -168.556083 # 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 30 # Segment length 102.175028 meters # Minimum depth: 159.824758 meters looking forward 100.000000 meters along route # Maximum depth: 165.055623 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 109.824758 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.839850; longitude = -135.105135; duration = 408; initialDepth = 109.255642; finalDepth = 109.824758; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.363264 # Actual altitude: 57.363264 # Commanded vehicle depth: 109.824758 # Seafloor depth: -160.141284 # 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 30 # Segment length 103.924823 meters # Minimum depth: 159.255642 meters looking forward 100.000000 meters along route # Maximum depth: 166.386929 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 109.255642 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.839304; longitude = -135.107375; duration = 415; initialDepth = 109.240113; finalDepth = 109.255642; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.888564 # Actual altitude: 50.888564 # Commanded vehicle depth: 109.255642 # Seafloor depth: -160.144206 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.430644 meters # Minimum depth: 159.240113 meters looking forward 100.000000 meters along route # Maximum depth: 166.647702 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 109.240113 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.838749; longitude = -135.109655; duration = 401; initialDepth = 107.640525; finalDepth = 109.240113; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.407589 # Actual altitude: 57.407589 # Commanded vehicle depth: 109.240113 # Seafloor depth: -166.647702 # 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 30 # Segment length 102.180440 meters # Minimum depth: 157.640525 meters looking forward 100.000000 meters along route # Maximum depth: 163.185406 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 107.640525 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.838213; longitude = -135.111857; duration = 408; initialDepth = 107.370872; finalDepth = 107.640525; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.407589 # Actual altitude: 57.407589 # Commanded vehicle depth: 107.640525 # Seafloor depth: -159.545029 # 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 30 # Segment length 102.182245 meters # Minimum depth: 157.370872 meters looking forward 100.000000 meters along route # Maximum depth: 169.986976 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 107.370872 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.837668; longitude = -135.114098; duration = 408; initialDepth = 111.271739; finalDepth = 107.370872; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.904504 # Actual altitude: 51.904504 # Commanded vehicle depth: 107.370872 # Seafloor depth: -157.370872 # 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 30 # Segment length 102.184050 meters # Minimum depth: 161.271739 meters looking forward 100.000000 meters along route # Maximum depth: 171.168760 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 111.271739 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.837122; longitude = -135.116339; duration = 408; initialDepth = 100.641358; finalDepth = 111.271739; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.897021 # Actual altitude: 59.897021 # Commanded vehicle depth: 111.271739 # Seafloor depth: -171.168760 # 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 30 # Segment length 103.009082 meters # Minimum depth: 150.641358 meters looking forward 100.000000 meters along route # Maximum depth: 159.744278 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 100.641358 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.836577; longitude = -135.118579; duration = 412; initialDepth = 100.679390; finalDepth = 100.641358; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.897021 # Actual altitude: 59.897021 # Commanded vehicle depth: 100.641358 # Seafloor depth: -159.744278 # 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 30 # Segment length 101.364430 meters # Minimum depth: 150.679390 meters looking forward 100.000000 meters along route # Maximum depth: 156.411588 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 100.679390 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.836027; longitude = -135.120838; duration = 405; initialDepth = 105.963733; finalDepth = 100.679390; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.10292 # Actual altitude: 59.10292 # Commanded vehicle depth: 100.67939 # Seafloor depth: -150.679390 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 102.189464 meters # Minimum depth: 155.963733 meters looking forward 100.000000 meters along route # Maximum depth: 159.054691 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 105.963733 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.835485; longitude = -135.123061; duration = 408; initialDepth = 106.345050; finalDepth = 105.963733; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 105.963733 # Seafloor depth: -155.963733 # 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 102.191267 meters # Minimum depth: 156.345050 meters looking forward 100.000000 meters along route # Maximum depth: 160.132432 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 106.345050 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.834940; longitude = -135.125302; duration = 408; initialDepth = 103.851843; finalDepth = 106.345050; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.803901 # Actual altitude: 52.803901 # Commanded vehicle depth: 106.34505 # Seafloor depth: -159.148951 # 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 30 # Segment length 102.193073 meters # Minimum depth: 153.851843 meters looking forward 100.000000 meters along route # Maximum depth: 159.503652 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 103.851843 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.834394; longitude = -135.127543; duration = 408; initialDepth = 104.971013; finalDepth = 103.851843; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.651809 # Actual altitude: 55.651809 # Commanded vehicle depth: 103.851843 # Seafloor depth: -159.503652 # 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 30 # Segment length 102.194877 meters # Minimum depth: 154.971013 meters looking forward 100.000000 meters along route # Maximum depth: 159.504049 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 104.971013 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.833849; longitude = -135.129783; duration = 408; initialDepth = 104.965767; finalDepth = 104.971013; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.651809 # Actual altitude: 55.651809 # Commanded vehicle depth: 104.971013 # Seafloor depth: -154.971013 # 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 30 # Segment length 102.196682 meters # Minimum depth: 154.965767 meters looking forward 100.000000 meters along route # Maximum depth: 157.173250 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 104.965767 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.833303; longitude = -135.132024; duration = 408; initialDepth = 100.798538; finalDepth = 104.965767; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.590761 # Actual altitude: 50.590761 # Commanded vehicle depth: 104.965767 # Seafloor depth: -155.556528 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 109.191243 meters # Minimum depth: 150.798538 meters looking forward 100.000000 meters along route # Maximum depth: 154.850881 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 100.798538 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.832758; longitude = -135.134265; duration = 436; initialDepth = 104.959601; finalDepth = 100.798538; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.052343 # Actual altitude: 54.052343 # Commanded vehicle depth: 100.798538 # Seafloor depth: -154.850881 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 111.968224 meters # Minimum depth: 154.959601 meters looking forward 100.000000 meters along route # Maximum depth: 158.610026 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 104.959601 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.832175; longitude = -135.136659; duration = 447; initialDepth = 108.253576; finalDepth = 104.959601; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.052343 # Actual altitude: 54.052343 # Commanded vehicle depth: 104.959601 # Seafloor depth: -155.251124 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 111.970390 meters # Minimum depth: 158.253576 meters looking forward 100.000000 meters along route # Maximum depth: 163.606844 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 108.253576 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.831577; longitude = -135.139114; duration = 447; initialDepth = 104.121234; finalDepth = 108.253576; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.721475 # Actual altitude: 50.721475 # Commanded vehicle depth: 108.253576 # Seafloor depth: -158.975051 # 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 30 # Segment length 111.972557 meters # Minimum depth: 154.121234 meters looking forward 100.000000 meters along route # Maximum depth: 160.392087 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 104.121234 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.830979; longitude = -135.141569; duration = 447; initialDepth = 103.644804; finalDepth = 104.121234; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.270853 # Actual altitude: 56.270853 # Commanded vehicle depth: 104.121234 # Seafloor depth: -160.392087 # 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 30 # Segment length 109.560482 meters # Minimum depth: 153.644804 meters looking forward 100.000000 meters along route # Maximum depth: 160.404962 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 103.644804 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.830382; longitude = -135.144024; duration = 438; initialDepth = 105.868416; finalDepth = 103.644804; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 56.270853 # Actual altitude: 56.270853 # Commanded vehicle depth: 103.644804 # Seafloor depth: -156.052745 # 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; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 29 # Segment length 150.015310 meters # Minimum depth: 155.868416 meters looking forward 100.000000 meters along route # Maximum depth: 167.331407 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 105.868416 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.829797; longitude = -135.146426; duration = 600; # abortOnTimeout = True; initialDepth = 107.710038; finalDepth = 105.868416; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.407941 # Actual altitude: 52.407941 # Commanded vehicle depth: 105.868416 # Seafloor depth: -155.868416 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 147.930113 meters # Minimum depth: 157.710038 meters looking forward 100.000000 meters along route # Maximum depth: 163.111427 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 107.710038 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.830877; longitude = -135.148866; duration = 591; # abortOnTimeout = True; initialDepth = 110.675205; finalDepth = 107.710038; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.401389 # Actual altitude: 55.401389 # Commanded vehicle depth: 107.710038 # Seafloor depth: -163.111427 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 102.199516 meters # Minimum depth: 160.675205 meters looking forward 100.000000 meters along route # Maximum depth: 165.473106 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 110.675205 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.831667; longitude = -135.145623; duration = 408; initialDepth = 111.517952; finalDepth = 110.675205; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.401389 # Actual altitude: 55.401389 # Commanded vehicle depth: 110.675205 # Seafloor depth: -160.675205 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 102.197710 meters # Minimum depth: 161.517952 meters looking forward 100.000000 meters along route # Maximum depth: 166.056708 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 111.517952 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.832212; longitude = -135.143382; duration = 408; initialDepth = 109.233567; finalDepth = 111.517952; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.212573 # Actual altitude: 54.212573 # Commanded vehicle depth: 111.517952 # Seafloor depth: -165.730525 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 102.195906 meters # Minimum depth: 159.233567 meters looking forward 100.000000 meters along route # Maximum depth: 161.001533 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 109.233567 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.832758; longitude = -135.141141; duration = 408; initialDepth = 110.790943; finalDepth = 109.233567; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.212573 # Actual altitude: 54.212573 # Commanded vehicle depth: 109.233567 # Seafloor depth: -161.001533 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 102.215048 meters # Minimum depth: 160.790943 meters looking forward 100.000000 meters along route # Maximum depth: 165.116125 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 110.790943 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.833303; longitude = -135.138900; duration = 408; initialDepth = 115.116450; finalDepth = 110.790943; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.767966 # Actual altitude: 51.767966 # Commanded vehicle depth: 110.790943 # Seafloor depth: -160.790943 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 102.171349 meters # Minimum depth: 165.116450 meters looking forward 100.000000 meters along route # Maximum depth: 166.237399 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 115.116450 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.833849; longitude = -135.136659; duration = 408; initialDepth = 112.736363; finalDepth = 115.116450; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 115.11645 # Seafloor depth: -165.116450 # 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 102.190492 meters # Minimum depth: 162.736363 meters looking forward 100.000000 meters along route # Maximum depth: 165.846698 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 112.736363 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.834394; longitude = -135.134419; duration = 408; initialDepth = 111.398584; finalDepth = 112.736363; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.110335 # Actual altitude: 53.110335 # Commanded vehicle depth: 112.736363 # Seafloor depth: -165.846698 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 102.188687 meters # Minimum depth: 161.398584 meters looking forward 100.000000 meters along route # Maximum depth: 162.643750 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 111.398584 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.834940; longitude = -135.132178; duration = 408; initialDepth = 111.689379; finalDepth = 111.398584; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.110335 # Actual altitude: 53.110335 # Commanded vehicle depth: 111.398584 # Seafloor depth: -162.643750 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 103.960578 meters # Minimum depth: 161.689379 meters looking forward 100.000000 meters along route # Maximum depth: 162.401211 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 111.689379 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.835485; longitude = -135.129937; duration = 415; initialDepth = 106.983569; finalDepth = 111.689379; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.245166 # Actual altitude: 51.245166 # Commanded vehicle depth: 111.689379 # Seafloor depth: -162.401211 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.411382 meters # Minimum depth: 156.983569 meters looking forward 100.000000 meters along route # Maximum depth: 161.768978 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 106.983569 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.836040; longitude = -135.127658; duration = 401; initialDepth = 104.233625; finalDepth = 106.983569; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.785409 # Actual altitude: 54.785409 # Commanded vehicle depth: 106.983569 # Seafloor depth: -161.768978 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 102.183273 meters # Minimum depth: 154.233625 meters looking forward 100.000000 meters along route # Maximum depth: 164.256241 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 104.233625 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.836577; longitude = -135.125456; duration = 408; initialDepth = 114.355776; finalDepth = 104.233625; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.785409 # Actual altitude: 54.785409 # Commanded vehicle depth: 104.233625 # Seafloor depth: -156.768245 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 102.181468 meters # Minimum depth: 164.355776 meters looking forward 100.000000 meters along route # Maximum depth: 167.723471 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 114.355776 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.837122; longitude = -135.123215; duration = 408; initialDepth = 117.661852; finalDepth = 114.355776; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.53462 # Actual altitude: 52.53462 # Commanded vehicle depth: 114.355776 # Seafloor depth: -164.355776 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 102.179664 meters # Minimum depth: 167.661852 meters looking forward 100.000000 meters along route # Maximum depth: 168.666782 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 117.661852 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.837668; longitude = -135.120974; duration = 408; initialDepth = 118.883981; finalDepth = 117.661852; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.319649 # Actual altitude: 50.319649 # Commanded vehicle depth: 117.661852 # Seafloor depth: -167.981501 # 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 28 # Segment length 103.032595 meters # Minimum depth: 168.883981 meters looking forward 100.000000 meters along route # Maximum depth: 169.363076 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 118.883981 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.838213; longitude = -135.118733; duration = 412; initialDepth = 118.654008; finalDepth = 118.883981; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.319649 # Actual altitude: 50.319649 # Commanded vehicle depth: 118.883981 # Seafloor depth: -169.192878 # 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 28 # Segment length 101.321320 meters # Minimum depth: 168.654008 meters looking forward 100.000000 meters along route # Maximum depth: 170.256203 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 118.654008 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.838763; longitude = -135.116474; duration = 405; initialDepth = 116.297452; finalDepth = 118.654008; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.308897 # Actual altitude: 50.308897 # Commanded vehicle depth: 118.654008 # Seafloor depth: -168.888116 # 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 28 # Segment length 102.174251 meters # Minimum depth: 166.297452 meters looking forward 100.000000 meters along route # Maximum depth: 170.911966 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 116.297452 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.839304; longitude = -135.114252; duration = 408; initialDepth = 108.971464; finalDepth = 116.297452; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.062297 # Actual altitude: 54.062297 # Commanded vehicle depth: 116.297452 # Seafloor depth: -170.359749 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 102.172446 meters # Minimum depth: 158.971464 meters looking forward 100.000000 meters along route # Maximum depth: 165.446205 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 108.971464 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.839850; longitude = -135.112011; duration = 408; initialDepth = 114.350599; finalDepth = 108.971464; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.474741 # Actual altitude: 56.474741 # Commanded vehicle depth: 108.971464 # Seafloor depth: -165.446205 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 102.170642 meters # Minimum depth: 164.350599 meters looking forward 100.000000 meters along route # Maximum depth: 165.335937 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 114.350599 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.840395; longitude = -135.109770; duration = 408; initialDepth = 113.951243; finalDepth = 114.350599; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.474741 # Actual altitude: 56.474741 # Commanded vehicle depth: 114.350599 # Seafloor depth: -164.350599 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 102.168837 meters # Minimum depth: 163.951243 meters looking forward 100.000000 meters along route # Maximum depth: 166.255281 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 113.951243 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.840941; longitude = -135.107530; duration = 408; initialDepth = 115.783275; finalDepth = 113.951243; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.021265 # Actual altitude: 50.021265 # Commanded vehicle depth: 113.951243 # Seafloor depth: -163.972508 # 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 28 # Segment length 102.167034 meters # Minimum depth: 165.783275 meters looking forward 100.000000 meters along route # Maximum depth: 170.519607 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 115.783275 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.841486; longitude = -135.105289; duration = 408; initialDepth = 114.927958; finalDepth = 115.783275; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.477452 # Actual altitude: 50.477452 # Commanded vehicle depth: 115.783275 # Seafloor depth: -166.260727 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 102.165229 meters # Minimum depth: 164.927958 meters looking forward 100.000000 meters along route # Maximum depth: 170.904006 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 114.927958 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.842032; longitude = -135.103048; duration = 408; initialDepth = 109.349899; finalDepth = 114.927958; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.976048 # Actual altitude: 55.976048 # Commanded vehicle depth: 114.927958 # Seafloor depth: -170.904006 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 102.163424 meters # Minimum depth: 159.349899 meters looking forward 100.000000 meters along route # Maximum depth: 166.745802 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 109.349899 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.842578; longitude = -135.100807; duration = 408; initialDepth = 116.853261; finalDepth = 109.349899; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.976048 # Actual altitude: 55.976048 # Commanded vehicle depth: 109.349899 # Seafloor depth: -164.178660 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 103.849878 meters # Minimum depth: 166.853261 meters looking forward 100.000000 meters along route # Maximum depth: 174.209547 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 116.853261 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.843123; longitude = -135.098566; duration = 415; initialDepth = 117.598341; finalDepth = 116.853261; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.828761 # Actual altitude: 54.828761 # Commanded vehicle depth: 116.853261 # Seafloor depth: -166.853261 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.471559 meters # Minimum depth: 167.598341 meters looking forward 100.000000 meters along route # Maximum depth: 174.323542 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 117.598341 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.843678; longitude = -135.096289; duration = 401; initialDepth = 117.572101; finalDepth = 117.598341; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.725201 # Actual altitude: 56.725201 # Commanded vehicle depth: 117.598341 # Seafloor depth: -174.323542 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 102.158012 meters # Minimum depth: 167.572101 meters looking forward 100.000000 meters along route # Maximum depth: 171.491774 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 117.572101 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.844214; longitude = -135.094085; duration = 408; initialDepth = 121.528259; finalDepth = 117.572101; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.725201 # Actual altitude: 56.725201 # Commanded vehicle depth: 117.572101 # Seafloor depth: -167.572101 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 102.156208 meters # Minimum depth: 171.528259 meters looking forward 100.000000 meters along route # Maximum depth: 172.235529 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 121.528259 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.844760; longitude = -135.091844; duration = 408; initialDepth = 122.302919; finalDepth = 121.528259; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 121.528259 # Seafloor depth: -171.528259 # 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 102.154404 meters # Minimum depth: 172.302919 meters looking forward 100.000000 meters along route # Maximum depth: 175.081409 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 122.302919 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.845305; longitude = -135.089603; duration = 408; initialDepth = 120.482313; finalDepth = 122.302919; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 122.302919 # Seafloor depth: -172.302919 # 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 102.922130 meters # Minimum depth: 170.482313 meters looking forward 100.000000 meters along route # Maximum depth: 174.920587 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 120.482313 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.845851; longitude = -135.087363; duration = 411; initialDepth = 120.594552; finalDepth = 120.482313; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.598419 # Actual altitude: 53.598419 # Commanded vehicle depth: 120.482313 # Seafloor depth: -174.080732 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 101.381265 meters # Minimum depth: 170.594552 meters looking forward 100.000000 meters along route # Maximum depth: 174.916691 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 120.594552 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.846401; longitude = -135.085105; duration = 405; initialDepth = 119.617128; finalDepth = 120.594552; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.322139 # Actual altitude: 54.322139 # Commanded vehicle depth: 120.594552 # Seafloor depth: -174.916691 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 102.148992 meters # Minimum depth: 169.617128 meters looking forward 100.000000 meters along route # Maximum depth: 171.537763 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 119.617128 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.846942; longitude = -135.082881; duration = 408; initialDepth = 119.988233; finalDepth = 119.617128; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.322139 # Actual altitude: 54.322139 # Commanded vehicle depth: 119.617128 # Seafloor depth: -170.577862 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 102.147187 meters # Minimum depth: 169.988233 meters looking forward 100.000000 meters along route # Maximum depth: 173.978520 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 119.988233 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.847487; longitude = -135.080640; duration = 408; initialDepth = 115.049402; finalDepth = 119.988233; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.960734 # Actual altitude: 50.960734 # Commanded vehicle depth: 119.988233 # Seafloor depth: -170.242228 # 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 28 # Segment length 102.145384 meters # Minimum depth: 165.049402 meters looking forward 100.000000 meters along route # Maximum depth: 169.333458 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 115.049402 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.848033; longitude = -135.078399; duration = 408; initialDepth = 114.034819; finalDepth = 115.049402; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.284056 # Actual altitude: 54.284056 # Commanded vehicle depth: 115.049402 # Seafloor depth: -169.333458 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 102.143580 meters # Minimum depth: 164.034819 meters looking forward 100.000000 meters along route # Maximum depth: 166.345059 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 114.034819 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.848579; longitude = -135.076159; duration = 408; initialDepth = 116.345168; finalDepth = 114.034819; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.284056 # Actual altitude: 54.284056 # Commanded vehicle depth: 114.034819 # Seafloor depth: -164.568132 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 102.141776 meters # Minimum depth: 166.345168 meters looking forward 100.000000 meters along route # Maximum depth: 168.565838 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 116.345168 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.849124; longitude = -135.073918; duration = 408; initialDepth = 105.289373; finalDepth = 116.345168; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.533313 # Actual altitude: 50.533313 # Commanded vehicle depth: 116.345168 # Seafloor depth: -166.345168 # 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 28 # Segment length 102.139972 meters # Minimum depth: 155.289373 meters looking forward 100.000000 meters along route # Maximum depth: 168.695657 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 105.289373 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.849670; longitude = -135.071677; duration = 408; initialDepth = 103.630840; finalDepth = 105.289373; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.406284 # Actual altitude: 63.406284 # Commanded vehicle depth: 105.289373 # Seafloor depth: -168.695657 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 102.138168 meters # Minimum depth: 153.630840 meters looking forward 100.000000 meters along route # Maximum depth: 160.782174 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 103.630840 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.850215; longitude = -135.069436; duration = 408; initialDepth = 108.843155; finalDepth = 103.630840; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.406284 # Actual altitude: 63.406284 # Commanded vehicle depth: 103.63084 # Seafloor depth: -153.635902 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 103.739224 meters # Minimum depth: 158.843155 meters looking forward 100.000000 meters along route # Maximum depth: 161.686870 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 108.843155 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.850761; longitude = -135.067196; duration = 414; initialDepth = 108.972699; finalDepth = 108.843155; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.269364 # Actual altitude: 52.269364 # Commanded vehicle depth: 108.843155 # Seafloor depth: -161.112519 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 111.897177 meters # Minimum depth: 158.972699 meters looking forward 100.000000 meters along route # Maximum depth: 160.605438 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 108.972699 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.851315; longitude = -135.064920; duration = 447; initialDepth = 105.525843; finalDepth = 108.972699; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.269364 # Actual altitude: 52.269364 # Commanded vehicle depth: 108.972699 # Seafloor depth: -158.972699 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 111.895012 meters # Minimum depth: 155.525843 meters looking forward 100.000000 meters along route # Maximum depth: 159.266831 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 105.525843 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.851913; longitude = -135.062465; duration = 447; initialDepth = 100.626149; finalDepth = 105.525843; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.740988 # Actual altitude: 53.740988 # Commanded vehicle depth: 105.525843 # Seafloor depth: -159.266831 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 111.892847 meters # Minimum depth: 150.626149 meters looking forward 100.000000 meters along route # Maximum depth: 158.494384 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 100.626149 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.852510; longitude = -135.060010; duration = 447; initialDepth = 102.804388; finalDepth = 100.626149; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.826577 # Actual altitude: 56.826577 # Commanded vehicle depth: 100.626149 # Seafloor depth: -157.452726 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 111.018069 meters # Minimum depth: 152.804388 meters looking forward 100.000000 meters along route # Maximum depth: 158.323889 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 102.804388 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.853108; longitude = -135.057555; duration = 444; initialDepth = 104.179342; finalDepth = 102.804388; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 56.826577 # Actual altitude: 56.826577 # Commanded vehicle depth: 102.804388 # Seafloor depth: -152.804388 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 149.997646 meters # Minimum depth: 154.179342 meters looking forward 100.000000 meters along route # Maximum depth: 162.368631 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 104.179342 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.853701; longitude = -135.055119; duration = 599; # abortOnTimeout = True; initialDepth = 110.561079; finalDepth = 104.179342; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.289366 # Actual altitude: 51.289366 # Commanded vehicle depth: 104.179342 # Seafloor depth: -155.468708 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 140.011207 meters # Minimum depth: 160.561079 meters looking forward 100.000000 meters along route # Maximum depth: 163.077662 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 110.561079 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.854782; longitude = -135.057557; duration = 560; # abortOnTimeout = True; initialDepth = 109.815310; finalDepth = 110.561079; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.490946 # Actual altitude: 51.490946 # Commanded vehicle depth: 110.561079 # Seafloor depth: -162.052025 # 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 26 # Segment length 102.125866 meters # Minimum depth: 159.815310 meters looking forward 100.000000 meters along route # Maximum depth: 160.562305 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 109.815310 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.854034; longitude = -135.060629; duration = 408; initialDepth = 109.668868; finalDepth = 109.815310; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.490946 # Actual altitude: 51.490946 # Commanded vehicle depth: 109.81531 # Seafloor depth: -160.562305 # 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 26 # Segment length 102.127670 meters # Minimum depth: 159.668868 meters looking forward 100.000000 meters along route # Maximum depth: 160.537279 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 109.668868 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.853489; longitude = -135.062870; duration = 408; initialDepth = 110.807359; finalDepth = 109.668868; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.746995 # Actual altitude: 50.746995 # Commanded vehicle depth: 109.668868 # Seafloor depth: -160.125598 # 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 26 # Segment length 103.199336 meters # Minimum depth: 160.807359 meters looking forward 100.000000 meters along route # Maximum depth: 163.072374 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 110.807359 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.852943; longitude = -135.065110; duration = 412; initialDepth = 107.998129; finalDepth = 110.807359; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.45673 # Actual altitude: 50.45673 # Commanded vehicle depth: 110.807359 # Seafloor depth: -160.807359 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 101.061414 meters # Minimum depth: 157.998129 meters looking forward 100.000000 meters along route # Maximum depth: 163.072858 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 107.998129 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.852392; longitude = -135.067375; duration = 404; initialDepth = 107.458700; finalDepth = 107.998129; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.074729 # Actual altitude: 55.074729 # Commanded vehicle depth: 107.998129 # Seafloor depth: -163.072858 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.133081 meters # Minimum depth: 157.458700 meters looking forward 100.000000 meters along route # Maximum depth: 164.057360 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 107.458700 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.851852; longitude = -135.069592; duration = 408; initialDepth = 96.341015; finalDepth = 107.458700; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.074729 # Actual altitude: 55.074729 # Commanded vehicle depth: 107.4587 # Seafloor depth: -157.809159 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.134885 meters # Minimum depth: 146.341015 meters looking forward 100.000000 meters along route # Maximum depth: 162.412795 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 96.341015 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.851306; longitude = -135.071833; duration = 408; initialDepth = 97.321150; finalDepth = 96.341015; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.07178 # Actual altitude: 66.07178 # Commanded vehicle depth: 96.341015 # Seafloor depth: -162.412795 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.136688 meters # Minimum depth: 147.321150 meters looking forward 100.000000 meters along route # Maximum depth: 161.354031 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 97.321150 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.850761; longitude = -135.074073; duration = 408; initialDepth = 106.351654; finalDepth = 97.321150; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.07178 # Actual altitude: 66.07178 # Commanded vehicle depth: 97.32115 # Seafloor depth: -147.321150 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.301443 meters # Minimum depth: 156.351654 meters looking forward 100.000000 meters along route # Maximum depth: 175.557691 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 106.351654 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.850215; longitude = -135.076314; duration = 409; initialDepth = 117.952686; finalDepth = 106.351654; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.468292 # Actual altitude: 50.468292 # Commanded vehicle depth: 106.351654 # Seafloor depth: -156.819946 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 101.977346 meters # Minimum depth: 167.952686 meters looking forward 100.000000 meters along route # Maximum depth: 175.908967 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 117.952686 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.849669; longitude = -135.078558; duration = 407; initialDepth = 116.285818; finalDepth = 117.952686; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.592515 # Actual altitude: 57.592515 # Commanded vehicle depth: 117.952686 # Seafloor depth: -175.545201 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.142100 meters # Minimum depth: 166.285818 meters looking forward 100.000000 meters along route # Maximum depth: 177.100216 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 116.285818 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.849124; longitude = -135.080796; duration = 408; initialDepth = 115.614726; finalDepth = 116.285818; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.859225 # Actual altitude: 59.859225 # Commanded vehicle depth: 116.285818 # Seafloor depth: -176.145043 # 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 26 # Segment length 102.143904 meters # Minimum depth: 165.614726 meters looking forward 100.000000 meters along route # Maximum depth: 175.708806 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 115.614726 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.848579; longitude = -135.083036; duration = 408; initialDepth = 123.285592; finalDepth = 115.614726; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.859225 # Actual altitude: 59.859225 # Commanded vehicle depth: 115.614726 # Seafloor depth: -165.614726 # 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 26 # Segment length 104.069969 meters # Minimum depth: 173.285592 meters looking forward 100.000000 meters along route # Maximum depth: 178.044497 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 123.285592 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.848033; longitude = -135.085277; duration = 416; initialDepth = 121.184527; finalDepth = 123.285592; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 123.285592 # Seafloor depth: -173.285592 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 100.223251 meters # Minimum depth: 171.184527 meters looking forward 100.000000 meters along route # Maximum depth: 178.069835 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 121.184527 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.847477; longitude = -135.087560; duration = 400; initialDepth = 119.045987; finalDepth = 121.184527; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.885308 # Actual altitude: 56.885308 # Commanded vehicle depth: 121.184527 # Seafloor depth: -178.069835 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.149316 meters # Minimum depth: 169.045987 meters looking forward 100.000000 meters along route # Maximum depth: 176.525646 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 119.045987 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.846942; longitude = -135.089758; duration = 408; initialDepth = 125.136900; finalDepth = 119.045987; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.885308 # Actual altitude: 56.885308 # Commanded vehicle depth: 119.045987 # Seafloor depth: -171.010615 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.151121 meters # Minimum depth: 175.136900 meters looking forward 100.000000 meters along route # Maximum depth: 178.526828 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 125.136900 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.846396; longitude = -135.091999; duration = 408; initialDepth = 121.074541; finalDepth = 125.136900; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.964628 # Actual altitude: 51.964628 # Commanded vehicle depth: 125.1369 # Seafloor depth: -176.976958 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.152924 meters # Minimum depth: 171.074541 meters looking forward 100.000000 meters along route # Maximum depth: 178.166407 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 121.074541 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.845851; longitude = -135.094240; duration = 408; initialDepth = 126.700840; finalDepth = 121.074541; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.093303 # Actual altitude: 53.093303 # Commanded vehicle depth: 121.074541 # Seafloor depth: -174.167844 # 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 26 # Segment length 103.172007 meters # Minimum depth: 176.700840 meters looking forward 100.000000 meters along route # Maximum depth: 179.760161 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 126.700840 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.845305; longitude = -135.096481; duration = 412; initialDepth = 119.316576; finalDepth = 126.700840; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.093303 # Actual altitude: 53.093303 # Commanded vehicle depth: 126.70084 # Seafloor depth: -178.983608 # 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 26 # Segment length 101.139254 meters # Minimum depth: 169.316576 meters looking forward 100.000000 meters along route # Maximum depth: 176.583591 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 119.316576 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.844754; longitude = -135.098744; duration = 404; initialDepth = 119.445887; finalDepth = 119.316576; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.267015 # Actual altitude: 57.267015 # Commanded vehicle depth: 119.316576 # Seafloor depth: -176.583591 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.158336 meters # Minimum depth: 169.445887 meters looking forward 100.000000 meters along route # Maximum depth: 174.768691 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 119.445887 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.844214; longitude = -135.100962; duration = 408; initialDepth = 121.738581; finalDepth = 119.445887; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.267015 # Actual altitude: 57.267015 # Commanded vehicle depth: 119.445887 # Seafloor depth: -169.754869 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.160141 meters # Minimum depth: 171.738581 meters looking forward 100.000000 meters along route # Maximum depth: 175.155908 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 121.738581 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.843669; longitude = -135.103203; duration = 408; initialDepth = 118.672438; finalDepth = 121.738581; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.417327 # Actual altitude: 53.417327 # Commanded vehicle depth: 121.738581 # Seafloor depth: -175.155908 # 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 26 # Segment length 102.161945 meters # Minimum depth: 168.672438 meters looking forward 100.000000 meters along route # Maximum depth: 173.124522 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 118.672438 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.843123; longitude = -135.105443; duration = 408; initialDepth = 111.328968; finalDepth = 118.672438; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.452084 # Actual altitude: 54.452084 # Commanded vehicle depth: 118.672438 # Seafloor depth: -173.124522 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.273886 meters # Minimum depth: 161.328968 meters looking forward 100.000000 meters along route # Maximum depth: 172.299924 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 111.328968 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.842578; longitude = -135.107684; duration = 409; initialDepth = 122.306293; finalDepth = 111.328968; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.452084 # Actual altitude: 54.452084 # Commanded vehicle depth: 111.328968 # Seafloor depth: -165.648644 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.055418 meters # Minimum depth: 172.306293 meters looking forward 100.000000 meters along route # Maximum depth: 177.142656 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 122.306293 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.842031; longitude = -135.109927; duration = 408; initialDepth = 116.180118; finalDepth = 122.306293; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.319676 # Actual altitude: 54.319676 # Commanded vehicle depth: 122.306293 # Seafloor depth: -172.306293 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.167358 meters # Minimum depth: 166.180118 meters looking forward 100.000000 meters along route # Maximum depth: 177.260040 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 116.180118 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.841486; longitude = -135.112166; duration = 408; initialDepth = 115.763334; finalDepth = 116.180118; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.079922 # Actual altitude: 61.079922 # Commanded vehicle depth: 116.180118 # Seafloor depth: -177.260040 # 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 26 # Segment length 102.169162 meters # Minimum depth: 165.763334 meters looking forward 100.000000 meters along route # Maximum depth: 167.919797 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 115.763334 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.840941; longitude = -135.114406; duration = 408; initialDepth = 118.035434; finalDepth = 115.763334; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.079922 # Actual altitude: 61.079922 # Commanded vehicle depth: 115.763334 # Seafloor depth: -165.763334 # 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 26 # Segment length 104.042845 meters # Minimum depth: 168.035434 meters looking forward 100.000000 meters along route # Maximum depth: 169.914665 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 118.035434 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.840395; longitude = -135.116647; duration = 416; initialDepth = 109.959563; finalDepth = 118.035434; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.230582 # Actual altitude: 50.230582 # Commanded vehicle depth: 118.035434 # Seafloor depth: -168.266016 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 100.300893 meters # Minimum depth: 159.959563 meters looking forward 100.000000 meters along route # Maximum depth: 167.905364 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 109.959563 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.839840; longitude = -135.118929; duration = 401; initialDepth = 110.543938; finalDepth = 109.959563; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.945801 # Actual altitude: 57.945801 # Commanded vehicle depth: 109.959563 # Seafloor depth: -167.905364 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.174575 meters # Minimum depth: 160.543938 meters looking forward 100.000000 meters along route # Maximum depth: 163.863110 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 110.543938 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.839304; longitude = -135.121128; duration = 408; initialDepth = 110.625179; finalDepth = 110.543938; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.945801 # Actual altitude: 57.945801 # Commanded vehicle depth: 110.543938 # Seafloor depth: -161.986722 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.176380 meters # Minimum depth: 160.625179 meters looking forward 100.000000 meters along route # Maximum depth: 165.868530 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 110.625179 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.838759; longitude = -135.123369; duration = 408; initialDepth = 115.263165; finalDepth = 110.625179; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.442784 # Actual altitude: 51.442784 # Commanded vehicle depth: 110.625179 # Seafloor depth: -160.625179 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.178185 meters # Minimum depth: 165.263165 meters looking forward 100.000000 meters along route # Maximum depth: 167.738849 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 115.263165 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.838213; longitude = -135.125610; duration = 408; initialDepth = 117.768299; finalDepth = 115.263165; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 115.263165 # Seafloor depth: -165.263165 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 103.144656 meters # Minimum depth: 167.768299 meters looking forward 100.000000 meters along route # Maximum depth: 168.447685 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 117.768299 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.837668; longitude = -135.127851; duration = 412; initialDepth = 111.155812; finalDepth = 117.768299; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.299581 # Actual altitude: 50.299581 # Commanded vehicle depth: 117.768299 # Seafloor depth: -168.067880 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 101.217126 meters # Minimum depth: 161.155812 meters looking forward 100.000000 meters along route # Maximum depth: 167.723806 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 111.155812 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.837117; longitude = -135.130113; duration = 404; initialDepth = 109.125279; finalDepth = 111.155812; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.567994 # Actual altitude: 56.567994 # Commanded vehicle depth: 111.155812 # Seafloor depth: -167.723806 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.183598 meters # Minimum depth: 159.125279 meters looking forward 100.000000 meters along route # Maximum depth: 164.842918 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 109.125279 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.836577; longitude = -135.132332; duration = 408; initialDepth = 114.947677; finalDepth = 109.125279; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.567994 # Actual altitude: 56.567994 # Commanded vehicle depth: 109.125279 # Seafloor depth: -160.935614 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.185403 meters # Minimum depth: 164.947677 meters looking forward 100.000000 meters along route # Maximum depth: 167.242191 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 114.947677 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.836031; longitude = -135.134573; duration = 408; initialDepth = 117.595740; finalDepth = 114.947677; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.810335 # Actual altitude: 51.810335 # Commanded vehicle depth: 114.947677 # Seafloor depth: -164.947677 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 104.913958 meters # Minimum depth: 167.595740 meters looking forward 100.000000 meters along route # Maximum depth: 170.240018 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 117.595740 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.835485; longitude = -135.136814; duration = 419; initialDepth = 116.973282; finalDepth = 117.595740; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.295501 # Actual altitude: 50.295501 # Commanded vehicle depth: 117.59574 # Seafloor depth: -167.891241 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 111.959623 meters # Minimum depth: 166.973282 meters looking forward 100.000000 meters along route # Maximum depth: 168.555189 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 116.973282 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.834925; longitude = -135.139114; duration = 447; initialDepth = 115.775357; finalDepth = 116.973282; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.581907 # Actual altitude: 51.581907 # Commanded vehicle depth: 116.973282 # Seafloor depth: -168.555189 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.95; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 111.961789 meters # Minimum depth: 165.775357 meters looking forward 100.000000 meters along route # Maximum depth: 166.730686 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 115.775357 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.834328; longitude = -135.141569; duration = 447; initialDepth = 116.892802; finalDepth = 115.775357; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.581907 # Actual altitude: 51.581907 # Commanded vehicle depth: 115.775357 # Seafloor depth: -166.730686 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.95; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 111.963956 meters # Minimum depth: 166.892802 meters looking forward 100.000000 meters along route # Maximum depth: 170.023729 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 116.892802 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.833730; longitude = -135.144024; duration = 447; initialDepth = 114.311636; finalDepth = 116.892802; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.955329 # Actual altitude: 50.955329 # Commanded vehicle depth: 116.892802 # Seafloor depth: -166.892802 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 111.966122 meters # Minimum depth: 164.311636 meters looking forward 100.000000 meters along route # Maximum depth: 168.365466 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 114.311636 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.833132; longitude = -135.146479; duration = 447; initialDepth = 118.857035; finalDepth = 114.311636; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.525664 # Actual altitude: 52.525664 # Commanded vehicle depth: 114.311636 # Seafloor depth: -166.837300 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 108.189530 meters # Minimum depth: 168.857035 meters looking forward 100.000000 meters along route # Maximum depth: 173.126553 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 118.857035 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.832535; longitude = -135.148934; duration = 432; initialDepth = 112.977252; finalDepth = 118.857035; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.525664 # Actual altitude: 52.525664 # Commanded vehicle depth: 118.857035 # Seafloor depth: -168.857035 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 149.941884 meters # Minimum depth: 162.977252 meters looking forward 100.000000 meters along route # Maximum depth: 172.705116 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 112.977252 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.831957; longitude = -135.151306; duration = 599; # abortOnTimeout = True; initialDepth = 123.139681; finalDepth = 112.977252; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 59.727864 # Actual altitude: 59.727864 # Commanded vehicle depth: 112.977252 # Seafloor depth: -172.705116 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 152.255537 meters # Minimum depth: 173.139681 meters looking forward 100.000000 meters along route # Maximum depth: 176.766880 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 123.139681 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.833036; longitude = -135.153747; duration = 609; # abortOnTimeout = True; initialDepth = 115.105090; finalDepth = 123.139681; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.727864 # Actual altitude: 59.727864 # Commanded vehicle depth: 123.139681 # Seafloor depth: -173.190651 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 102.187151 meters # Minimum depth: 165.105090 meters looking forward 100.000000 meters along route # Maximum depth: 179.098435 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 115.105090 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.833849; longitude = -135.150409; duration = 408; initialDepth = 122.486515; finalDepth = 115.105090; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.00639 # Actual altitude: 55.00639 # Commanded vehicle depth: 115.10509 # Seafloor depth: -170.111480 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 102.185346 meters # Minimum depth: 172.486515 meters looking forward 100.000000 meters along route # Maximum depth: 180.465990 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 122.486515 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.834394; longitude = -135.148168; duration = 408; initialDepth = 121.441869; finalDepth = 122.486515; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.887847 # Actual altitude: 57.887847 # Commanded vehicle depth: 122.486515 # Seafloor depth: -180.374362 # 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 24 # Segment length 102.183542 meters # Minimum depth: 171.441869 meters looking forward 100.000000 meters along route # Maximum depth: 174.235780 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 121.441869 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.834940; longitude = -135.145927; duration = 408; initialDepth = 122.083172; finalDepth = 121.441869; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.887847 # Actual altitude: 57.887847 # Commanded vehicle depth: 121.441869 # Seafloor depth: -172.489255 # 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 24 # Segment length 102.181738 meters # Minimum depth: 172.083172 meters looking forward 100.000000 meters along route # Maximum depth: 178.050923 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 122.083172 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.835485; longitude = -135.143687; duration = 408; initialDepth = 116.357786; finalDepth = 122.083172; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.047386 # Actual altitude: 51.047386 # Commanded vehicle depth: 122.083172 # Seafloor depth: -172.083172 # 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 24 # Segment length 102.179933 meters # Minimum depth: 166.357786 meters looking forward 100.000000 meters along route # Maximum depth: 178.196789 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 116.357786 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.836031; longitude = -135.141446; duration = 408; initialDepth = 114.840090; finalDepth = 116.357786; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.81845 # Actual altitude: 61.81845 # Commanded vehicle depth: 116.357786 # Seafloor depth: -178.176236 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 103.692874 meters # Minimum depth: 164.840090 meters looking forward 100.000000 meters along route # Maximum depth: 173.363239 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 114.840090 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.836577; longitude = -135.139206; duration = 414; initialDepth = 114.309668; finalDepth = 114.840090; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.81845 # Actual altitude: 61.81845 # Commanded vehicle depth: 114.84009 # Seafloor depth: -164.840090 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.661578 meters # Minimum depth: 164.309668 meters looking forward 100.000000 meters along route # Maximum depth: 169.519062 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 114.309668 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.837130; longitude = -135.136932; duration = 402; initialDepth = 114.096929; finalDepth = 114.309668; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.706355 # Actual altitude: 52.706355 # Commanded vehicle depth: 114.309668 # Seafloor depth: -167.016023 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 102.174520 meters # Minimum depth: 164.096929 meters looking forward 100.000000 meters along route # Maximum depth: 169.813315 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 114.096929 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.837668; longitude = -135.134724; duration = 408; initialDepth = 116.147698; finalDepth = 114.096929; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.706355 # Actual altitude: 52.706355 # Commanded vehicle depth: 114.096929 # Seafloor depth: -164.096929 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 102.172715 meters # Minimum depth: 166.147698 meters looking forward 100.000000 meters along route # Maximum depth: 169.548128 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 116.147698 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.838213; longitude = -135.132484; duration = 408; initialDepth = 115.551053; finalDepth = 116.147698; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.348079 # Actual altitude: 53.348079 # Commanded vehicle depth: 116.147698 # Seafloor depth: -169.495777 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 102.170911 meters # Minimum depth: 165.551053 meters looking forward 100.000000 meters along route # Maximum depth: 172.111790 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 115.551053 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.838759; longitude = -135.130243; duration = 408; initialDepth = 117.431237; finalDepth = 115.551053; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.348079 # Actual altitude: 53.348079 # Commanded vehicle depth: 115.551053 # Seafloor depth: -165.551053 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 102.804818 meters # Minimum depth: 167.431237 meters looking forward 100.000000 meters along route # Maximum depth: 173.254526 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 117.431237 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.839304; longitude = -135.128003; duration = 411; initialDepth = 115.102170; finalDepth = 117.431237; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.945015 # Actual altitude: 54.945015 # Commanded vehicle depth: 117.431237 # Seafloor depth: -172.376252 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 101.531591 meters # Minimum depth: 165.102170 meters looking forward 100.000000 meters along route # Maximum depth: 172.892697 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 115.102170 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.839853; longitude = -135.125748; duration = 406; initialDepth = 123.286362; finalDepth = 115.102170; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.945015 # Actual altitude: 54.945015 # Commanded vehicle depth: 115.10217 # Seafloor depth: -169.305738 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 102.165498 meters # Minimum depth: 173.286362 meters looking forward 100.000000 meters along route # Maximum depth: 177.836268 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 123.286362 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.840395; longitude = -135.123521; duration = 408; initialDepth = 121.457831; finalDepth = 123.286362; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.203568 # Actual altitude: 54.203568 # Commanded vehicle depth: 123.286362 # Seafloor depth: -173.286362 # 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 24 # Segment length 102.163693 meters # Minimum depth: 171.457831 meters looking forward 100.000000 meters along route # Maximum depth: 175.446451 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 121.457831 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.840941; longitude = -135.121281; duration = 408; initialDepth = 115.867506; finalDepth = 121.457831; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.566711 # Actual altitude: 53.566711 # Commanded vehicle depth: 121.457831 # Seafloor depth: -175.024542 # 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 24 # Segment length 102.161890 meters # Minimum depth: 165.867506 meters looking forward 100.000000 meters along route # Maximum depth: 176.133573 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 115.867506 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.841486; longitude = -135.119040; duration = 408; initialDepth = 114.380612; finalDepth = 115.867506; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.679201 # Actual altitude: 59.679201 # Commanded vehicle depth: 115.867506 # Seafloor depth: -175.546707 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 102.160085 meters # Minimum depth: 164.380612 meters looking forward 100.000000 meters along route # Maximum depth: 175.953731 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 114.380612 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.842032; longitude = -135.116800; duration = 408; initialDepth = 125.711288; finalDepth = 114.380612; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.679201 # Actual altitude: 59.679201 # Commanded vehicle depth: 114.380612 # Seafloor depth: -164.380612 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 102.158281 meters # Minimum depth: 175.711288 meters looking forward 100.000000 meters along route # Maximum depth: 177.067386 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 125.711288 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.842578; longitude = -135.114559; duration = 408; initialDepth = 123.881370; finalDepth = 125.711288; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.255484 # Actual altitude: 50.255484 # Commanded vehicle depth: 125.711288 # Seafloor depth: -175.966772 # 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 24 # Segment length 102.156477 meters # Minimum depth: 173.881370 meters looking forward 100.000000 meters along route # Maximum depth: 175.609802 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 123.881370 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.843123; longitude = -135.112319; duration = 408; initialDepth = 117.333252; finalDepth = 123.881370; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.728432 # Actual altitude: 51.728432 # Commanded vehicle depth: 123.88137 # Seafloor depth: -175.609802 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 102.154672 meters # Minimum depth: 167.333252 meters looking forward 100.000000 meters along route # Maximum depth: 173.921287 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 117.333252 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.843669; longitude = -135.110078; duration = 408; initialDepth = 116.414498; finalDepth = 117.333252; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.449687 # Actual altitude: 56.449687 # Commanded vehicle depth: 117.333252 # Seafloor depth: -173.782939 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 103.693936 meters # Minimum depth: 166.414498 meters looking forward 100.000000 meters along route # Maximum depth: 175.543502 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 116.414498 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.844214; longitude = -135.107837; duration = 414; initialDepth = 118.720213; finalDepth = 116.414498; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.449687 # Actual altitude: 56.449687 # Commanded vehicle depth: 116.414498 # Seafloor depth: -170.309992 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.609998 meters # Minimum depth: 168.720213 meters looking forward 100.000000 meters along route # Maximum depth: 173.281084 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 118.720213 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.844768; longitude = -135.105563; duration = 402; initialDepth = 119.810346; finalDepth = 118.720213; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.560871 # Actual altitude: 54.560871 # Commanded vehicle depth: 118.720213 # Seafloor depth: -173.281084 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 102.149260 meters # Minimum depth: 169.810346 meters looking forward 100.000000 meters along route # Maximum depth: 176.297720 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 119.810346 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.845305; longitude = -135.103356; duration = 408; initialDepth = 124.195968; finalDepth = 119.810346; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.560871 # Actual altitude: 54.560871 # Commanded vehicle depth: 119.810346 # Seafloor depth: -169.810346 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 102.147457 meters # Minimum depth: 174.195968 meters looking forward 100.000000 meters along route # Maximum depth: 177.771600 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 124.195968 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.845851; longitude = -135.101116; duration = 408; initialDepth = 126.135595; finalDepth = 124.195968; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 124.195968 # Seafloor depth: -174.195968 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 102.145653 meters # Minimum depth: 176.135595 meters looking forward 100.000000 meters along route # Maximum depth: 178.684375 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 126.135595 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.846396; longitude = -135.098875; duration = 408; initialDepth = 121.070946; finalDepth = 126.135595; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.730594 # Actual altitude: 50.730594 # Commanded vehicle depth: 126.135595 # Seafloor depth: -176.866189 # 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 24 # Segment length 102.806096 meters # Minimum depth: 171.070946 meters looking forward 100.000000 meters along route # Maximum depth: 179.745965 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 121.070946 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.846942; longitude = -135.096634; duration = 411; initialDepth = 129.167379; finalDepth = 121.070946; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.570148 # Actual altitude: 56.570148 # Commanded vehicle depth: 121.070946 # Seafloor depth: -177.641094 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 101.479797 meters # Minimum depth: 179.167379 meters looking forward 100.000000 meters along route # Maximum depth: 182.970587 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 129.167379 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.847491; longitude = -135.094379; duration = 405; initialDepth = 124.495501; finalDepth = 129.167379; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.570148 # Actual altitude: 56.570148 # Commanded vehicle depth: 129.167379 # Seafloor depth: -179.766264 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 102.140241 meters # Minimum depth: 174.495501 meters looking forward 100.000000 meters along route # Maximum depth: 182.604249 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 124.495501 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.848033; longitude = -135.092153; duration = 408; initialDepth = 127.392715; finalDepth = 124.495501; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.108748 # Actual altitude: 58.108748 # Commanded vehicle depth: 124.495501 # Seafloor depth: -182.604249 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 102.138437 meters # Minimum depth: 177.392715 meters looking forward 100.000000 meters along route # Maximum depth: 182.042599 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 127.392715 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.848579; longitude = -135.089913; duration = 408; initialDepth = 118.748418; finalDepth = 127.392715; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.108748 # Actual altitude: 58.108748 # Commanded vehicle depth: 127.392715 # Seafloor depth: -178.589470 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 102.136633 meters # Minimum depth: 168.748418 meters looking forward 100.000000 meters along route # Maximum depth: 176.547589 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 118.748418 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.849124; longitude = -135.087672; duration = 408; initialDepth = 121.602034; finalDepth = 118.748418; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.799171 # Actual altitude: 57.799171 # Commanded vehicle depth: 118.748418 # Seafloor depth: -176.547589 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 102.134829 meters # Minimum depth: 171.602034 meters looking forward 100.000000 meters along route # Maximum depth: 178.573018 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 121.602034 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.849670; longitude = -135.085431; duration = 408; initialDepth = 121.086002; finalDepth = 121.602034; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.799171 # Actual altitude: 57.799171 # Commanded vehicle depth: 121.602034 # Seafloor depth: -174.719375 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 102.133026 meters # Minimum depth: 171.086002 meters looking forward 100.000000 meters along route # Maximum depth: 172.705475 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 121.086002 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.850215; longitude = -135.083191; duration = 408; initialDepth = 115.486529; finalDepth = 121.086002; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.117341 # Actual altitude: 53.117341 # Commanded vehicle depth: 121.086002 # Seafloor depth: -171.580012 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 102.131222 meters # Minimum depth: 165.486529 meters looking forward 100.000000 meters along route # Maximum depth: 171.168021 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 115.486529 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.850761; longitude = -135.080950; duration = 408; initialDepth = 116.957153; finalDepth = 115.486529; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.681492 # Actual altitude: 55.681492 # Commanded vehicle depth: 115.486529 # Seafloor depth: -171.168021 # 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 24 # Segment length 102.129418 meters # Minimum depth: 166.957153 meters looking forward 100.000000 meters along route # Maximum depth: 172.184864 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 116.957153 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.851306; longitude = -135.078710; duration = 408; initialDepth = 112.316524; finalDepth = 116.957153; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.681492 # Actual altitude: 55.681492 # Commanded vehicle depth: 116.957153 # Seafloor depth: -170.399210 # 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 24 # Segment length 103.694988 meters # Minimum depth: 162.316524 meters looking forward 100.000000 meters along route # Maximum depth: 166.257258 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 112.316524 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.851852; longitude = -135.076469; duration = 414; initialDepth = 111.978713; finalDepth = 112.316524; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.442057 # Actual altitude: 53.442057 # Commanded vehicle depth: 112.316524 # Seafloor depth: -165.730287 # 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 24 # Segment length 100.558437 meters # Minimum depth: 161.978713 meters looking forward 100.000000 meters along route # Maximum depth: 170.093170 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 111.978713 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.852406; longitude = -135.074194; duration = 402; initialDepth = 111.113447; finalDepth = 111.978713; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.587703 # Actual altitude: 54.587703 # Commanded vehicle depth: 111.978713 # Seafloor depth: -166.566416 # 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 24 # Segment length 110.799481 meters # Minimum depth: 161.113447 meters looking forward 100.000000 meters along route # Maximum depth: 168.708850 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 111.113447 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.852943; longitude = -135.071988; duration = 443; initialDepth = 115.400616; finalDepth = 111.113447; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.587703 # Actual altitude: 54.587703 # Commanded vehicle depth: 111.113447 # Seafloor depth: -161.746798 # 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 24 # Segment length 111.892240 meters # Minimum depth: 165.400616 meters looking forward 100.000000 meters along route # Maximum depth: 169.551612 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 115.400616 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.853535; longitude = -135.069557; duration = 447; initialDepth = 119.930353; finalDepth = 115.400616; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.69118 # Actual altitude: 52.69118 # Commanded vehicle depth: 115.400616 # Seafloor depth: -168.091796 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 111.890076 meters # Minimum depth: 169.930353 meters looking forward 100.000000 meters along route # Maximum depth: 172.486455 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 119.930353 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.854133; longitude = -135.067102; duration = 447; initialDepth = 118.208266; finalDepth = 119.930353; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.69118 # Actual altitude: 52.69118 # Commanded vehicle depth: 119.930353 # Seafloor depth: -169.930353 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 111.887910 meters # Minimum depth: 168.208266 meters looking forward 100.000000 meters along route # Maximum depth: 169.501523 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 118.208266 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.854730; longitude = -135.064647; duration = 447; initialDepth = 120.314817; finalDepth = 118.208266; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.943552 # Actual altitude: 50.943552 # Commanded vehicle depth: 118.208266 # Seafloor depth: -169.151818 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.127454 meters # Minimum depth: 170.314817 meters looking forward 100.000000 meters along route # Maximum depth: 170.850452 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 120.314817 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.855328; longitude = -135.062192; duration = 400; initialDepth = 119.922646; finalDepth = 120.314817; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.943552 # Actual altitude: 50.943552 # Commanded vehicle depth: 120.314817 # Seafloor depth: -170.314817 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 150.013681 meters # Minimum depth: 169.922646 meters looking forward 100.000000 meters along route # Maximum depth: 177.052192 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 119.922646 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.855863; longitude = -135.059995; duration = 600; # abortOnTimeout = True; initialDepth = 126.678669; finalDepth = 119.922646; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 119.922646 # Seafloor depth: -169.922646 # 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 22 # Segment length 85.159217 meters # Minimum depth: 176.678669 meters looking forward 100.000000 meters along route # Maximum depth: 177.197064 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 126.678669 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.856944; longitude = -135.062434; duration = 340; # abortOnTimeout = True; initialDepth = 125.100040; finalDepth = 126.678669; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.102032 # Actual altitude: 50.102032 # Commanded vehicle depth: 126.678669 # Seafloor depth: -176.780701 # 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 22 # Segment length 102.715031 meters # Minimum depth: 175.100040 meters looking forward 100.000000 meters along route # Maximum depth: 177.288589 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 125.100040 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.856489; longitude = -135.064303; duration = 410; initialDepth = 124.859046; finalDepth = 125.100040; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.188549 # Actual altitude: 52.188549 # Commanded vehicle depth: 125.10004 # Seafloor depth: -177.288589 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.510585 meters # Minimum depth: 174.859046 meters looking forward 100.000000 meters along route # Maximum depth: 175.694114 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 124.859046 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.855940; longitude = -135.066556; duration = 406; initialDepth = 124.499598; finalDepth = 124.859046; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.188549 # Actual altitude: 52.188549 # Commanded vehicle depth: 124.859046 # Seafloor depth: -175.369432 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.115514 meters # Minimum depth: 174.499598 meters looking forward 100.000000 meters along route # Maximum depth: 174.891392 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 124.499598 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.855398; longitude = -135.068784; duration = 408; initialDepth = 124.499977; finalDepth = 124.499598; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.510386 # Actual altitude: 50.510386 # Commanded vehicle depth: 124.499598 # Seafloor depth: -174.818862 # 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 22 # Segment length 102.117317 meters # Minimum depth: 174.499977 meters looking forward 100.000000 meters along route # Maximum depth: 174.931133 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 124.499977 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.854852; longitude = -135.071024; duration = 408; initialDepth = 124.707057; finalDepth = 124.499977; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.319264 # Actual altitude: 50.319264 # Commanded vehicle depth: 124.499977 # Seafloor depth: -174.499977 # 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 22 # Segment length 102.119120 meters # Minimum depth: 174.707057 meters looking forward 100.000000 meters along route # Maximum depth: 175.005689 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 124.707057 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.854307; longitude = -135.073265; duration = 408; initialDepth = 124.381775; finalDepth = 124.707057; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.045334 # Actual altitude: 50.045334 # Commanded vehicle depth: 124.707057 # Seafloor depth: -174.752391 # 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 22 # Segment length 102.120924 meters # Minimum depth: 174.381775 meters looking forward 100.000000 meters along route # Maximum depth: 175.609517 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 124.381775 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.853761; longitude = -135.075505; duration = 408; initialDepth = 125.609378; finalDepth = 124.381775; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.045334 # Actual altitude: 50.045334 # Commanded vehicle depth: 124.381775 # Seafloor depth: -174.406238 # 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 22 # Segment length 102.122728 meters # Minimum depth: 175.609378 meters looking forward 100.000000 meters along route # Maximum depth: 176.679079 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 125.609378 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.853216; longitude = -135.077746; duration = 408; initialDepth = 126.677369; finalDepth = 125.609378; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.024463 # Actual altitude: 50.024463 # Commanded vehicle depth: 125.609378 # Seafloor depth: -175.609378 # 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 22 # Segment length 102.124531 meters # Minimum depth: 176.677369 meters looking forward 100.000000 meters along route # Maximum depth: 177.934760 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 126.677369 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.852670; longitude = -135.079986; duration = 408; initialDepth = 127.948967; finalDepth = 126.677369; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 126.677369 # Seafloor depth: -176.677369 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.126335 meters # Minimum depth: 177.948967 meters looking forward 100.000000 meters along route # Maximum depth: 180.041556 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 127.948967 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.852125; longitude = -135.082227; duration = 408; initialDepth = 129.640635; finalDepth = 127.948967; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 127.948967 # Seafloor depth: -177.948967 # 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 103.667103 meters # Minimum depth: 179.640635 meters looking forward 100.000000 meters along route # Maximum depth: 182.765148 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 129.640635 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.851579; longitude = -135.084467; duration = 414; initialDepth = 132.266851; finalDepth = 129.640635; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.427209 # Actual altitude: 50.427209 # Commanded vehicle depth: 129.640635 # Seafloor depth: -180.067844 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.590978 meters # Minimum depth: 182.266851 meters looking forward 100.000000 meters along route # Maximum depth: 183.313781 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 132.266851 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.851025; longitude = -135.086742; duration = 402; initialDepth = 131.319128; finalDepth = 132.266851; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.476433 # Actual altitude: 50.476433 # Commanded vehicle depth: 132.266851 # Seafloor depth: -182.743284 # 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 22 # Segment length 102.131746 meters # Minimum depth: 181.319128 meters looking forward 100.000000 meters along route # Maximum depth: 182.391109 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 131.319128 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.850488; longitude = -135.088948; duration = 408; initialDepth = 129.670854; finalDepth = 131.319128; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.96086 # Actual altitude: 50.96086 # Commanded vehicle depth: 131.319128 # Seafloor depth: -182.279988 # 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 22 # Segment length 102.133549 meters # Minimum depth: 179.670854 meters looking forward 100.000000 meters along route # Maximum depth: 181.889619 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 129.670854 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.849942; longitude = -135.091189; duration = 408; initialDepth = 131.931260; finalDepth = 129.670854; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.218765 # Actual altitude: 52.218765 # Commanded vehicle depth: 129.670854 # Seafloor depth: -181.889619 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.135354 meters # Minimum depth: 181.931260 meters looking forward 100.000000 meters along route # Maximum depth: 182.869163 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 131.931260 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.849397; longitude = -135.093429; duration = 408; initialDepth = 130.215719; finalDepth = 131.931260; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.218765 # Actual altitude: 52.218765 # Commanded vehicle depth: 131.93126 # Seafloor depth: -181.931260 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.814512 meters # Minimum depth: 180.215719 meters looking forward 100.000000 meters along route # Maximum depth: 181.869387 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 130.215719 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.848851; longitude = -135.095670; duration = 411; initialDepth = 130.997464; finalDepth = 130.215719; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.653668 # Actual altitude: 51.653668 # Commanded vehicle depth: 130.215719 # Seafloor depth: -181.869387 # 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 22 # Segment length 101.461606 meters # Minimum depth: 180.997464 meters looking forward 100.000000 meters along route # Maximum depth: 183.131176 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 130.997464 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.848302; longitude = -135.097925; duration = 405; initialDepth = 132.116693; finalDepth = 130.997464; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.653668 # Actual altitude: 51.653668 # Commanded vehicle depth: 130.997464 # Seafloor depth: -180.997464 # 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 22 # Segment length 102.140765 meters # Minimum depth: 182.116693 meters looking forward 100.000000 meters along route # Maximum depth: 183.341695 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 132.116693 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.847760; longitude = -135.100151; duration = 408; initialDepth = 132.996915; finalDepth = 132.116693; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.970333 # Actual altitude: 50.970333 # Commanded vehicle depth: 132.116693 # Seafloor depth: -183.087026 # 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 22 # Segment length 102.142569 meters # Minimum depth: 182.996915 meters looking forward 100.000000 meters along route # Maximum depth: 185.368729 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 132.996915 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.847215; longitude = -135.102391; duration = 408; initialDepth = 132.430535; finalDepth = 132.996915; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.970333 # Actual altitude: 50.970333 # Commanded vehicle depth: 132.996915 # Seafloor depth: -183.102177 # 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 22 # Segment length 102.144373 meters # Minimum depth: 182.430535 meters looking forward 100.000000 meters along route # Maximum depth: 186.044362 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 132.430535 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.846669; longitude = -135.104632; duration = 408; initialDepth = 129.102598; finalDepth = 132.430535; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.613827 # Actual altitude: 53.613827 # Commanded vehicle depth: 132.430535 # Seafloor depth: -186.044362 # 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 22 # Segment length 102.146177 meters # Minimum depth: 179.102598 meters looking forward 100.000000 meters along route # Maximum depth: 184.668586 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 129.102598 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.846124; longitude = -135.106873; duration = 408; initialDepth = 126.797358; finalDepth = 129.102598; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.198893 # Actual altitude: 55.198893 # Commanded vehicle depth: 129.102598 # Seafloor depth: -184.301491 # 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 22 # Segment length 102.147981 meters # Minimum depth: 176.797358 meters looking forward 100.000000 meters along route # Maximum depth: 181.398572 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 126.797358 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.845578; longitude = -135.109113; duration = 408; initialDepth = 123.655778; finalDepth = 126.797358; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.198893 # Actual altitude: 55.198893 # Commanded vehicle depth: 126.797358 # Seafloor depth: -179.129988 # 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 22 # Segment length 102.149785 meters # Minimum depth: 173.655778 meters looking forward 100.000000 meters along route # Maximum depth: 176.980665 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 123.655778 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.845033; longitude = -135.111354; duration = 408; initialDepth = 125.381717; finalDepth = 123.655778; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.657452 # Actual altitude: 52.657452 # Commanded vehicle depth: 123.655778 # Seafloor depth: -176.313230 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.151589 meters # Minimum depth: 175.381717 meters looking forward 100.000000 meters along route # Maximum depth: 179.810693 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 125.381717 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.844487; longitude = -135.113594; duration = 408; initialDepth = 123.377596; finalDepth = 125.381717; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.657452 # Actual altitude: 52.657452 # Commanded vehicle depth: 125.381717 # Seafloor depth: -175.381717 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 103.766832 meters # Minimum depth: 173.377596 meters looking forward 100.000000 meters along route # Maximum depth: 177.537063 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 123.377596 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.843941; longitude = -135.115835; duration = 415; initialDepth = 123.387988; finalDepth = 123.377596; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.81378 # Actual altitude: 53.81378 # Commanded vehicle depth: 123.377596 # Seafloor depth: -177.191376 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.541758 meters # Minimum depth: 173.387988 meters looking forward 100.000000 meters along route # Maximum depth: 183.745068 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 123.387988 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.843387; longitude = -135.118111; duration = 402; initialDepth = 123.275978; finalDepth = 123.387988; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.81378 # Actual altitude: 53.81378 # Commanded vehicle depth: 123.387988 # Seafloor depth: -173.387988 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.157001 meters # Minimum depth: 173.275978 meters looking forward 100.000000 meters along route # Maximum depth: 182.528968 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 123.275978 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.842850; longitude = -135.120316; duration = 408; initialDepth = 122.054866; finalDepth = 123.275978; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.25299 # Actual altitude: 59.25299 # Commanded vehicle depth: 123.275978 # Seafloor depth: -182.528968 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.158805 meters # Minimum depth: 172.054866 meters looking forward 100.000000 meters along route # Maximum depth: 174.120419 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 122.054866 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.842305; longitude = -135.122556; duration = 408; initialDepth = 122.843037; finalDepth = 122.054866; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.25299 # Actual altitude: 59.25299 # Commanded vehicle depth: 122.054866 # Seafloor depth: -173.134561 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.160610 meters # Minimum depth: 172.843037 meters looking forward 100.000000 meters along route # Maximum depth: 176.922546 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 122.843037 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.841759; longitude = -135.124797; duration = 408; initialDepth = 123.681015; finalDepth = 122.843037; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.379948 # Actual altitude: 51.379948 # Commanded vehicle depth: 122.843037 # Seafloor depth: -174.222985 # 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 22 # Segment length 102.914036 meters # Minimum depth: 173.681015 meters looking forward 100.000000 meters along route # Maximum depth: 176.114836 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 123.681015 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.841214; longitude = -135.127037; duration = 411; initialDepth = 126.153110; finalDepth = 123.681015; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.379948 # Actual altitude: 51.379948 # Commanded vehicle depth: 123.681015 # Seafloor depth: -173.681015 # 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 22 # Segment length 101.412596 meters # Minimum depth: 176.153110 meters looking forward 100.000000 meters along route # Maximum depth: 179.153294 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 126.153110 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.840664; longitude = -135.129294; duration = 405; initialDepth = 128.659351; finalDepth = 126.153110; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 126.15311 # Seafloor depth: -176.153110 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.166022 meters # Minimum depth: 178.659351 meters looking forward 100.000000 meters along route # Maximum depth: 179.522090 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 128.659351 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.840123; longitude = -135.131518; duration = 408; initialDepth = 129.054192; finalDepth = 128.659351; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.522199 # Actual altitude: 50.522199 # Commanded vehicle depth: 128.659351 # Seafloor depth: -179.181550 # 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 22 # Segment length 102.167826 meters # Minimum depth: 179.054192 meters looking forward 100.000000 meters along route # Maximum depth: 181.371728 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 129.054192 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.839577; longitude = -135.133759; duration = 408; initialDepth = 131.586396; finalDepth = 129.054192; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.709671 # Actual altitude: 50.709671 # Commanded vehicle depth: 129.054192 # Seafloor depth: -179.763863 # 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 22 # Segment length 102.169631 meters # Minimum depth: 181.586396 meters looking forward 100.000000 meters along route # Maximum depth: 183.947749 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 131.586396 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.839032; longitude = -135.135999; duration = 408; initialDepth = 120.270558; finalDepth = 131.586396; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.060988 # Actual altitude: 51.060988 # Commanded vehicle depth: 131.586396 # Seafloor depth: -182.647384 # 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 22 # Segment length 102.171435 meters # Minimum depth: 170.270558 meters looking forward 100.000000 meters along route # Maximum depth: 181.328162 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 120.270558 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.838486; longitude = -135.138240; duration = 408; initialDepth = 122.365983; finalDepth = 120.270558; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.057604 # Actual altitude: 61.057604 # Commanded vehicle depth: 120.270558 # Seafloor depth: -181.328162 # 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 22 # Segment length 102.173240 meters # Minimum depth: 172.365983 meters looking forward 100.000000 meters along route # Maximum depth: 178.178796 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 122.365983 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.837940; longitude = -135.140480; duration = 408; initialDepth = 117.337906; finalDepth = 122.365983; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.057604 # Actual altitude: 61.057604 # Commanded vehicle depth: 122.365983 # Seafloor depth: -178.132857 # 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 22 # Segment length 102.175044 meters # Minimum depth: 167.337906 meters looking forward 100.000000 meters along route # Maximum depth: 178.143695 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 117.337906 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.837395; longitude = -135.142721; duration = 408; initialDepth = 125.358261; finalDepth = 117.337906; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.766874 # Actual altitude: 55.766874 # Commanded vehicle depth: 117.337906 # Seafloor depth: -172.088468 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.176849 meters # Minimum depth: 175.358261 meters looking forward 100.000000 meters along route # Maximum depth: 180.592083 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 125.358261 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.836849; longitude = -135.144961; duration = 408; initialDepth = 123.835368; finalDepth = 125.358261; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.750562 # Actual altitude: 54.750562 # Commanded vehicle depth: 125.358261 # Seafloor depth: -178.821022 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 103.866602 meters # Minimum depth: 173.835368 meters looking forward 100.000000 meters along route # Maximum depth: 181.057013 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 123.835368 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.836304; longitude = -135.147202; duration = 415; initialDepth = 125.731865; finalDepth = 123.835368; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.462761 # Actual altitude: 53.462761 # Commanded vehicle depth: 123.835368 # Seafloor depth: -174.338466 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.492508 meters # Minimum depth: 175.731865 meters looking forward 100.000000 meters along route # Maximum depth: 181.076448 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 125.731865 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.835749; longitude = -135.149479; duration = 401; initialDepth = 123.298393; finalDepth = 125.731865; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.240362 # Actual altitude: 55.240362 # Commanded vehicle depth: 125.731865 # Seafloor depth: -180.972227 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.182262 meters # Minimum depth: 173.298393 meters looking forward 100.000000 meters along route # Maximum depth: 175.626536 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 123.298393 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.835213; longitude = -135.151683; duration = 408; initialDepth = 124.663285; finalDepth = 123.298393; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.240362 # Actual altitude: 55.240362 # Commanded vehicle depth: 123.298393 # Seafloor depth: -175.626536 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 103.233435 meters # Minimum depth: 174.663285 meters looking forward 100.000000 meters along route # Maximum depth: 182.487052 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 124.663285 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.834667; longitude = -135.153923; duration = 412; initialDepth = 124.441539; finalDepth = 124.663285; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.328143 # Actual altitude: 52.328143 # Commanded vehicle depth: 124.663285 # Seafloor depth: -174.663285 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 112.083170 meters # Minimum depth: 174.441539 meters looking forward 100.000000 meters along route # Maximum depth: 179.612687 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 124.441539 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.834116; longitude = -135.156187; duration = 448; # abortOnTimeout = True; initialDepth = 125.700851; finalDepth = 124.441539; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.03534 # Actual altitude: 55.03534 # Commanded vehicle depth: 124.441539 # Seafloor depth: -179.476879 # 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; } # ####################################################### # # 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 177.297068 meters # Minimum depth: 175.700851 meters looking forward 100.000000 meters along route # Maximum depth: 187.119051 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 125.700851 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.833121; longitude = -135.156617; duration = 709; # abortOnTimeout = True; initialDepth = 138.680525; finalDepth = 125.700851; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.03534 # Actual altitude: 55.03534 # Commanded vehicle depth: 125.700851 # Seafloor depth: -175.700851 # 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 20 # Segment length 107.570690 meters # Minimum depth: 188.680525 meters looking forward 100.000000 meters along route # Maximum depth: 201.223444 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 138.680525 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.833993; longitude = -135.160663; duration = 430; initialDepth = 152.283792; finalDepth = 138.680525; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 138.680525 # Seafloor depth: -188.680525 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 103.578544 meters # Minimum depth: 202.283792 meters looking forward 100.000000 meters along route # Maximum depth: 208.766149 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 152.283792 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.834522; longitude = -135.163118; duration = 414; initialDepth = 145.686290; finalDepth = 152.283792; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 152.283792 # Seafloor depth: -202.283792 # 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 19 # Segment length 175.292116 meters # Minimum depth: 195.686290 meters looking forward 100.000000 meters along route # Maximum depth: 208.871124 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 145.686290 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.835031; longitude = -135.165482; duration = 701; # abortOnTimeout = True; initialDepth = 132.905323; finalDepth = 145.686290; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.184834 # Actual altitude: 63.184834 # Commanded vehicle depth: 145.68629 # Seafloor depth: -208.871124 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 107.572019 meters # Minimum depth: 182.905323 meters looking forward 100.000000 meters along route # Maximum depth: 194.751184 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 132.905323 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.834169; longitude = -135.161481; duration = 430; initialDepth = 125.146257; finalDepth = 132.905323; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.184834 # Actual altitude: 63.184834 # Commanded vehicle depth: 132.905323 # Seafloor depth: -194.751184 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 105.582167 meters # Minimum depth: 175.146257 meters looking forward 100.000000 meters along route # Maximum depth: 187.119051 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 125.146257 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.833640; longitude = -135.159027; duration = 422; initialDepth = 123.038951; finalDepth = 125.146257; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 61.845861 # Actual altitude: 61.845861 # Commanded vehicle depth: 125.146257 # Seafloor depth: -186.712898 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 122.750575 meters # Minimum depth: 173.038951 meters looking forward 100.000000 meters along route # Maximum depth: 184.952396 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 123.038951 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.833121; longitude = -135.156617; duration = 491; # abortOnTimeout = True; initialDepth = 127.829333; finalDepth = 123.038951; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.566641 # Actual altitude: 61.566641 # Commanded vehicle depth: 123.038951 # Seafloor depth: -175.700851 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 117.434992 meters # Minimum depth: 177.829333 meters looking forward 100.000000 meters along route # Maximum depth: 191.409715 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 127.829333 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.834167; longitude = -135.157663; duration = 469; initialDepth = 141.733941; finalDepth = 127.829333; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.725671 # Actual altitude: 55.725671 # Commanded vehicle depth: 127.829333 # Seafloor depth: -183.555004 # 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; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 96.121583 meters # Minimum depth: 191.733941 meters looking forward 100.000000 meters along route # Maximum depth: 194.059769 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 141.733941 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.835167; longitude = -135.158663; duration = 384; # abortOnTimeout = True; initialDepth = 139.925031; finalDepth = 141.733941; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.725671 # Actual altitude: 55.725671 # Commanded vehicle depth: 141.733941 # Seafloor depth: -192.960762 # 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; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 104.071522 meters # Minimum depth: 189.925031 meters looking forward 100.000000 meters along route # Maximum depth: 192.938022 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 139.925031 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.834440; longitude = -135.160072; duration = 416; # abortOnTimeout = True; initialDepth = 111.221504; finalDepth = 139.925031; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 5 # Commanded altitude: 52.894225 # Actual altitude: 52.894225 # Commanded vehicle depth: 139.925031 # Seafloor depth: -192.819256 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 114.385316 meters # Minimum depth: 186.221504 meters looking forward 100.000000 meters along route # Maximum depth: 189.025162 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 111.221504 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.833667; longitude = -135.161663; duration = 457; # abortOnTimeout = True; initialDepth = 102.575034; finalDepth = 111.221504; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 5 # Commanded altitude: 77.803658 # Actual altitude: 77.803658 # Commanded vehicle depth: 111.221504 # Seafloor depth: -189.025162 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.68; 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 14 # Segment length 130.251714 meters # Minimum depth: 177.575034 meters looking forward 100.000000 meters along route # Maximum depth: 186.772053 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 102.575034 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.832803; longitude = -135.163345; duration = 521; # abortOnTimeout = True; initialDepth = 127.161170; finalDepth = 102.575034; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 84.197019 # Actual altitude: 84.197019 # Commanded vehicle depth: 102.575034 # Seafloor depth: -186.772053 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 50.52; 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 13 # Segment length 155.938055 meters # Minimum depth: 177.161170 meters looking forward 100.000000 meters along route # Maximum depth: 184.444157 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 127.161170 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.831848; longitude = -135.165391; duration = 623; # abortOnTimeout = True; initialDepth = 126.511608; finalDepth = 127.161170; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 84.197019 # Actual altitude: 84.197019 # Commanded vehicle depth: 127.16117 # Seafloor depth: -180.052654 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 50.52; 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 12 # Segment length 176.253048 meters # Minimum depth: 176.511608 meters looking forward 100.000000 meters along route # Maximum depth: 185.220222 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 126.511608 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.830666; longitude = -135.167664; duration = 705; # abortOnTimeout = True; initialDepth = 127.771989; finalDepth = 126.511608; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.708614 # Actual altitude: 58.708614 # Commanded vehicle depth: 126.511608 # Seafloor depth: -185.220222 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 109.410276 meters # Minimum depth: 177.771989 meters looking forward 100.000000 meters along route # Maximum depth: 184.359775 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 127.771989 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.831988; longitude = -135.165028; duration = 437; initialDepth = 134.758943; finalDepth = 127.771989; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.708614 # Actual altitude: 58.708614 # Commanded vehicle depth: 127.771989 # Seafloor depth: -178.844752 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 109.408928 meters # Minimum depth: 184.758943 meters looking forward 100.000000 meters along route # Maximum depth: 188.307742 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 134.758943 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.832808; longitude = -135.163391; duration = 437; initialDepth = 137.160851; finalDepth = 134.758943; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.072763 # Actual altitude: 51.072763 # Commanded vehicle depth: 134.758943 # Seafloor depth: -184.758943 # 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 12 # Segment length 102.094115 meters # Minimum depth: 187.160851 meters looking forward 100.000000 meters along route # Maximum depth: 193.189244 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 137.160851 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.833629; longitude = -135.161754; duration = 408; initialDepth = 141.801641; finalDepth = 137.160851; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 137.160851 # Seafloor depth: -187.160851 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 106.890265 meters # Minimum depth: 191.801641 meters looking forward 100.000000 meters along route # Maximum depth: 194.253270 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 141.801641 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.834394; longitude = -135.160227; duration = 427; initialDepth = 142.960762; finalDepth = 141.801641; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.241718 # Actual altitude: 51.241718 # Commanded vehicle depth: 141.801641 # Seafloor depth: -193.043359 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 156.394890 meters # Minimum depth: 192.960762 meters looking forward 100.000000 meters along route # Maximum depth: 194.600026 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 142.960762 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.835196; longitude = -135.158628; duration = 625; # abortOnTimeout = True; initialDepth = 141.653134; finalDepth = 142.960762; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.241718 # Actual altitude: 51.241718 # Commanded vehicle depth: 142.960762 # Seafloor depth: -192.960762 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 102.176272 meters # Minimum depth: 191.653134 meters looking forward 100.000000 meters along route # Maximum depth: 193.954431 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 141.653134 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.836031; longitude = -135.155199; duration = 408; initialDepth = 139.258216; finalDepth = 141.653134; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.301297 # Actual altitude: 52.301297 # Commanded vehicle depth: 141.653134 # Seafloor depth: -193.954431 # 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 11 # Segment length 102.174468 meters # Minimum depth: 189.258216 meters looking forward 100.000000 meters along route # Maximum depth: 191.582752 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 139.258216 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.836577; longitude = -135.152958; duration = 408; initialDepth = 139.164256; finalDepth = 139.258216; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.324536 # Actual altitude: 52.324536 # Commanded vehicle depth: 139.258216 # Seafloor depth: -191.582752 # 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 11 # Segment length 102.172663 meters # Minimum depth: 189.164256 meters looking forward 100.000000 meters along route # Maximum depth: 192.539222 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 139.164256 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.837122; longitude = -135.150718; duration = 408; initialDepth = 141.681555; finalDepth = 139.164256; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.324536 # Actual altitude: 52.324536 # Commanded vehicle depth: 139.164256 # Seafloor depth: -189.164256 # 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 11 # Segment length 103.569974 meters # Minimum depth: 191.681555 meters looking forward 100.000000 meters along route # Maximum depth: 194.449395 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 141.681555 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.837668; longitude = -135.148477; duration = 414; initialDepth = 144.507075; finalDepth = 141.681555; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.341621 # Actual altitude: 50.341621 # Commanded vehicle depth: 141.681555 # Seafloor depth: -192.023176 # 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 11 # Segment length 100.769940 meters # Minimum depth: 194.507075 meters looking forward 100.000000 meters along route # Maximum depth: 195.962593 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 144.507075 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.838221; longitude = -135.146206; duration = 403; initialDepth = 143.294357; finalDepth = 144.507075; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.341621 # Actual altitude: 50.341621 # Commanded vehicle depth: 144.507075 # Seafloor depth: -194.507075 # 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 11 # Segment length 102.167250 meters # Minimum depth: 193.294357 meters looking forward 100.000000 meters along route # Maximum depth: 195.577023 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 143.294357 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.838759; longitude = -135.143996; duration = 408; initialDepth = 143.335628; finalDepth = 143.294357; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.282666 # Actual altitude: 52.282666 # Commanded vehicle depth: 143.294357 # Seafloor depth: -195.577023 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 102.165446 meters # Minimum depth: 193.335628 meters looking forward 100.000000 meters along route # Maximum depth: 194.735559 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 143.335628 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.839304; longitude = -135.141756; duration = 408; initialDepth = 144.173780; finalDepth = 143.335628; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.282666 # Actual altitude: 52.282666 # Commanded vehicle depth: 143.335628 # Seafloor depth: -193.335628 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 102.163641 meters # Minimum depth: 194.173780 meters looking forward 100.000000 meters along route # Maximum depth: 195.466926 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 144.173780 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.839850; longitude = -135.139515; duration = 408; initialDepth = 142.842236; finalDepth = 144.173780; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.144215 # Actual altitude: 50.144215 # Commanded vehicle depth: 144.17378 # Seafloor depth: -194.317995 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 102.710351 meters # Minimum depth: 192.842236 meters looking forward 100.000000 meters along route # Maximum depth: 195.109154 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 142.842236 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.840395; longitude = -135.137275; duration = 410; initialDepth = 143.592981; finalDepth = 142.842236; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.266918 # Actual altitude: 52.266918 # Commanded vehicle depth: 142.842236 # Seafloor depth: -195.109154 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 101.611520 meters # Minimum depth: 193.592981 meters looking forward 100.000000 meters along route # Maximum depth: 194.416112 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 143.592981 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.840944; longitude = -135.135022; duration = 406; initialDepth = 143.169515; finalDepth = 143.592981; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.266918 # Actual altitude: 52.266918 # Commanded vehicle depth: 143.592981 # Seafloor depth: -194.371183 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 102.158229 meters # Minimum depth: 193.169515 meters looking forward 100.000000 meters along route # Maximum depth: 194.545367 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 143.169515 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.841486; longitude = -135.132794; duration = 408; initialDepth = 142.160546; finalDepth = 143.169515; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.778202 # Actual altitude: 50.778202 # Commanded vehicle depth: 143.169515 # Seafloor depth: -193.581933 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 102.156425 meters # Minimum depth: 192.160546 meters looking forward 100.000000 meters along route # Maximum depth: 192.975933 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 142.160546 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.842032; longitude = -135.130554; duration = 408; initialDepth = 141.064800; finalDepth = 142.160546; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.815387 # Actual altitude: 50.815387 # Commanded vehicle depth: 142.160546 # Seafloor depth: -192.975933 # 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 11 # Segment length 102.154620 meters # Minimum depth: 191.064800 meters looking forward 100.000000 meters along route # Maximum depth: 192.613918 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 141.064800 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.842578; longitude = -135.128313; duration = 408; initialDepth = 140.256138; finalDepth = 141.064800; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.549118 # Actual altitude: 51.549118 # Commanded vehicle depth: 141.0648 # Seafloor depth: -192.613918 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 102.152817 meters # Minimum depth: 190.256138 meters looking forward 100.000000 meters along route # Maximum depth: 191.005108 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 140.256138 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.843123; longitude = -135.126073; duration = 408; initialDepth = 139.976593; finalDepth = 140.256138; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.549118 # Actual altitude: 51.549118 # Commanded vehicle depth: 140.256138 # Seafloor depth: -190.896249 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 102.151013 meters # Minimum depth: 189.976593 meters looking forward 100.000000 meters along route # Maximum depth: 191.459954 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 139.976593 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.843669; longitude = -135.123832; duration = 408; initialDepth = 139.313079; finalDepth = 139.976593; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.037709 # Actual altitude: 51.037709 # Commanded vehicle depth: 139.976593 # Seafloor depth: -191.014302 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 102.149208 meters # Minimum depth: 189.313079 meters looking forward 100.000000 meters along route # Maximum depth: 190.106089 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 139.313079 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.844214; longitude = -135.121592; duration = 408; initialDepth = 139.945003; finalDepth = 139.313079; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.037709 # Actual altitude: 51.037709 # Commanded vehicle depth: 139.313079 # Seafloor depth: -189.866012 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 102.147404 meters # Minimum depth: 189.945003 meters looking forward 100.000000 meters along route # Maximum depth: 191.709391 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 139.945003 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.844760; longitude = -135.119351; duration = 408; initialDepth = 141.354061; finalDepth = 139.945003; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.552933 # Actual altitude: 50.552933 # Commanded vehicle depth: 139.945003 # Seafloor depth: -190.027371 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 103.650594 meters # Minimum depth: 191.354061 meters looking forward 100.000000 meters along route # Maximum depth: 193.652087 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 141.354061 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.845305; longitude = -135.117111; duration = 414; initialDepth = 140.747342; finalDepth = 141.354061; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.404018 # Actual altitude: 50.404018 # Commanded vehicle depth: 141.354061 # Seafloor depth: -191.758079 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.638803 meters # Minimum depth: 190.747342 meters looking forward 100.000000 meters along route # Maximum depth: 191.452326 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 140.747342 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.845859; longitude = -135.114837; duration = 402; initialDepth = 139.825507; finalDepth = 140.747342; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.704984 # Actual altitude: 50.704984 # Commanded vehicle depth: 140.747342 # Seafloor depth: -191.452326 # 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 11 # Segment length 102.141993 meters # Minimum depth: 189.825507 meters looking forward 100.000000 meters along route # Maximum depth: 190.970162 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 139.825507 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.846396; longitude = -135.112630; duration = 408; initialDepth = 140.622855; finalDepth = 139.825507; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.144655 # Actual altitude: 51.144655 # Commanded vehicle depth: 139.825507 # Seafloor depth: -190.970162 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 102.140188 meters # Minimum depth: 190.622855 meters looking forward 100.000000 meters along route # Maximum depth: 192.728312 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 140.622855 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.846942; longitude = -135.110389; duration = 408; initialDepth = 142.167615; finalDepth = 140.622855; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.144655 # Actual altitude: 51.144655 # Commanded vehicle depth: 140.622855 # Seafloor depth: -190.622855 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 102.138385 meters # Minimum depth: 192.167615 meters looking forward 100.000000 meters along route # Maximum depth: 193.364863 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 142.167615 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.847487; longitude = -135.108149; duration = 408; initialDepth = 141.618196; finalDepth = 142.167615; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.753402 # Actual altitude: 50.753402 # Commanded vehicle depth: 142.167615 # Seafloor depth: -192.921017 # 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 11 # Segment length 102.791173 meters # Minimum depth: 191.618196 meters looking forward 100.000000 meters along route # Maximum depth: 192.969298 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 141.618196 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.848033; longitude = -135.105908; duration = 411; initialDepth = 141.877443; finalDepth = 141.618196; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.753402 # Actual altitude: 50.753402 # Commanded vehicle depth: 141.618196 # Seafloor depth: -192.298995 # 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 11 # Segment length 101.480185 meters # Minimum depth: 191.877443 meters looking forward 100.000000 meters along route # Maximum depth: 193.402499 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 141.877443 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.848582; longitude = -135.103654; duration = 405; initialDepth = 139.873291; finalDepth = 141.877443; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.104677 # Actual altitude: 51.104677 # Commanded vehicle depth: 141.877443 # Seafloor depth: -192.982120 # 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 11 # Segment length 102.132973 meters # Minimum depth: 189.873291 meters looking forward 100.000000 meters along route # Maximum depth: 191.828403 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 139.873291 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.849124; longitude = -135.101427; duration = 408; initialDepth = 137.911112; finalDepth = 139.873291; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.955112 # Actual altitude: 51.955112 # Commanded vehicle depth: 139.873291 # Seafloor depth: -191.828403 # 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 11 # Segment length 102.131169 meters # Minimum depth: 187.911112 meters looking forward 100.000000 meters along route # Maximum depth: 189.839532 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 137.911112 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.849670; longitude = -135.099187; duration = 408; initialDepth = 136.120207; finalDepth = 137.911112; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.955112 # Actual altitude: 51.955112 # Commanded vehicle depth: 137.911112 # Seafloor depth: -189.839532 # 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 11 # Segment length 102.129366 meters # Minimum depth: 186.120207 meters looking forward 100.000000 meters along route # Maximum depth: 187.579622 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 136.120207 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.850215; longitude = -135.096946; duration = 408; initialDepth = 134.894669; finalDepth = 136.120207; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.92842 # Actual altitude: 51.92842 # Commanded vehicle depth: 136.120207 # Seafloor depth: -187.579622 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 102.127562 meters # Minimum depth: 184.894669 meters looking forward 100.000000 meters along route # Maximum depth: 186.020133 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 134.894669 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.850761; longitude = -135.094706; duration = 408; initialDepth = 134.893588; finalDepth = 134.894669; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.459415 # Actual altitude: 51.459415 # Commanded vehicle depth: 134.894669 # Seafloor depth: -186.020133 # 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 11 # Segment length 102.125758 meters # Minimum depth: 184.893588 meters looking forward 100.000000 meters along route # Maximum depth: 185.064275 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 134.893588 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.851306; longitude = -135.092466; duration = 408; initialDepth = 134.822178; finalDepth = 134.893588; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.125464 # Actual altitude: 51.125464 # Commanded vehicle depth: 134.893588 # Seafloor depth: -184.893588 # 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 11 # Segment length 102.123955 meters # Minimum depth: 184.822178 meters looking forward 100.000000 meters along route # Maximum depth: 185.041415 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 134.822178 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.851852; longitude = -135.090225; duration = 408; initialDepth = 135.036439; finalDepth = 134.822178; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.048029 # Actual altitude: 50.048029 # Commanded vehicle depth: 134.822178 # Seafloor depth: -184.870207 # 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 11 # Segment length 102.122151 meters # Minimum depth: 185.036439 meters looking forward 100.000000 meters along route # Maximum depth: 185.716130 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 135.036439 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.852397; longitude = -135.087985; duration = 408; initialDepth = 135.873154; finalDepth = 135.036439; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.050365 # Actual altitude: 50.050365 # Commanded vehicle depth: 135.036439 # Seafloor depth: -185.086804 # 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 11 # Segment length 103.731167 meters # Minimum depth: 185.873154 meters looking forward 100.000000 meters along route # Maximum depth: 186.067945 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 135.873154 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.852943; longitude = -135.085744; duration = 414; initialDepth = 135.976486; finalDepth = 135.873154; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.050365 # Actual altitude: 50.050365 # Commanded vehicle depth: 135.873154 # Seafloor depth: -185.873154 # 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 11 # Segment length 100.507724 meters # Minimum depth: 185.976486 meters looking forward 100.000000 meters along route # Maximum depth: 186.445644 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 135.976486 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.853497; longitude = -135.083468; duration = 402; initialDepth = 136.274093; finalDepth = 135.976486; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 135.976486 # Seafloor depth: -185.976486 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 102.116740 meters # Minimum depth: 186.274093 meters looking forward 100.000000 meters along route # Maximum depth: 186.577635 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 136.274093 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.854034; longitude = -135.081263; duration = 408; initialDepth = 136.040655; finalDepth = 136.274093; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.177198 # Actual altitude: 50.177198 # Commanded vehicle depth: 136.274093 # Seafloor depth: -186.451291 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 102.114937 meters # Minimum depth: 186.040655 meters looking forward 100.000000 meters along route # Maximum depth: 186.318256 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 136.040655 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.854580; longitude = -135.079023; duration = 408; initialDepth = 135.851102; finalDepth = 136.040655; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.177198 # Actual altitude: 50.177198 # Commanded vehicle depth: 136.040655 # Seafloor depth: -186.197582 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 105.530176 meters # Minimum depth: 185.851102 meters looking forward 100.000000 meters along route # Maximum depth: 186.191961 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 135.851102 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.855125; longitude = -135.076782; duration = 422; initialDepth = 135.068254; finalDepth = 135.851102; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.194162 # Actual altitude: 50.194162 # Commanded vehicle depth: 135.851102 # Seafloor depth: -186.045264 # 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 11 # Segment length 111.886650 meters # Minimum depth: 185.068254 meters looking forward 100.000000 meters along route # Maximum depth: 186.183403 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 135.068254 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.855689; longitude = -135.074467; duration = 447; initialDepth = 134.319277; finalDepth = 135.068254; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.115149 # Actual altitude: 51.115149 # Commanded vehicle depth: 135.068254 # Seafloor depth: -186.183403 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 111.884485 meters # Minimum depth: 184.319277 meters looking forward 100.000000 meters along route # Maximum depth: 186.058416 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 134.319277 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.856287; longitude = -135.072012; duration = 447; initialDepth = 133.535830; finalDepth = 134.319277; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.115149 # Actual altitude: 51.115149 # Commanded vehicle depth: 134.319277 # Seafloor depth: -185.343831 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 111.882320 meters # Minimum depth: 183.535830 meters looking forward 100.000000 meters along route # Maximum depth: 184.650289 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 133.535830 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.856885; longitude = -135.069557; duration = 447; initialDepth = 134.293529; finalDepth = 133.535830; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.024554 # Actual altitude: 51.024554 # Commanded vehicle depth: 133.53583 # Seafloor depth: -184.477861 # 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 11 # Segment length 101.577156 meters # Minimum depth: 184.293529 meters looking forward 100.000000 meters along route # Maximum depth: 184.924708 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 134.293529 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.857482; longitude = -135.067102; duration = 406; initialDepth = 134.307690; finalDepth = 134.293529; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.942031 # Actual altitude: 50.942031 # Commanded vehicle depth: 134.293529 # Seafloor depth: -184.924708 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 150.007935 meters # Minimum depth: 184.307690 meters looking forward 100.000000 meters along route # Maximum depth: 193.039308 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 134.307690 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.858025; longitude = -135.064873; duration = 600; # abortOnTimeout = True; initialDepth = 143.039308; finalDepth = 134.307690; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.631179 # Actual altitude: 50.631179 # Commanded vehicle depth: 134.30769 # Seafloor depth: -184.307690 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 81.373309 meters # Minimum depth: 193.039308 meters looking forward 100.000000 meters along route # Maximum depth: 195.053073 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 143.039308 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.859106; longitude = -135.067312; duration = 325; # abortOnTimeout = True; initialDepth = 144.015663; finalDepth = 143.039308; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.711077 # Actual altitude: 50.711077 # Commanded vehicle depth: 143.039308 # Seafloor depth: -193.750385 # 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 9 # Segment length 102.102439 meters # Minimum depth: 194.015663 meters looking forward 100.000000 meters along route # Maximum depth: 195.279623 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 144.015663 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.858671; longitude = -135.069098; duration = 408; initialDepth = 144.130930; finalDepth = 144.015663; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.048887 # Actual altitude: 51.048887 # Commanded vehicle depth: 144.015663 # Seafloor depth: -195.064550 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 102.104242 meters # Minimum depth: 194.130930 meters looking forward 100.000000 meters along route # Maximum depth: 195.182001 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 144.130930 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.858126; longitude = -135.071338; duration = 408; initialDepth = 144.841440; finalDepth = 144.130930; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.048887 # Actual altitude: 51.048887 # Commanded vehicle depth: 144.13093 # Seafloor depth: -194.130930 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 102.638402 meters # Minimum depth: 194.841440 meters looking forward 100.000000 meters along route # Maximum depth: 195.347210 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 144.841440 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.857580; longitude = -135.073579; duration = 410; initialDepth = 145.000006; finalDepth = 144.841440; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.397429 # Actual altitude: 50.397429 # Commanded vehicle depth: 144.84144 # Seafloor depth: -195.238869 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 101.575493 meters # Minimum depth: 195.000006 meters looking forward 100.000000 meters along route # Maximum depth: 195.415280 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 145.000006 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.857032; longitude = -135.075831; duration = 406; initialDepth = 145.378780; finalDepth = 145.000006; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.397429 # Actual altitude: 50.397429 # Commanded vehicle depth: 145.000006 # Seafloor depth: -195.042690 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 102.109652 meters # Minimum depth: 195.378780 meters looking forward 100.000000 meters along route # Maximum depth: 196.095813 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 145.378780 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.856489; longitude = -135.078059; duration = 408; initialDepth = 145.730925; finalDepth = 145.378780; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.042684 # Actual altitude: 50.042684 # Commanded vehicle depth: 145.37878 # Seafloor depth: -195.378780 # 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 9 # Segment length 102.111456 meters # Minimum depth: 195.730925 meters looking forward 100.000000 meters along route # Maximum depth: 196.298466 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 145.730925 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.855943; longitude = -135.080300; duration = 408; initialDepth = 145.888545; finalDepth = 145.730925; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.337119 # Actual altitude: 50.337119 # Commanded vehicle depth: 145.730925 # Seafloor depth: -196.068044 # 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 9 # Segment length 102.113259 meters # Minimum depth: 195.888545 meters looking forward 100.000000 meters along route # Maximum depth: 196.341229 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 145.888545 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.855398; longitude = -135.082540; duration = 408; initialDepth = 146.080586; finalDepth = 145.888545; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.337119 # Actual altitude: 50.337119 # Commanded vehicle depth: 145.888545 # Seafloor depth: -195.888545 # 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 9 # Segment length 102.115063 meters # Minimum depth: 196.080586 meters looking forward 100.000000 meters along route # Maximum depth: 196.387878 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 146.080586 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.854852; longitude = -135.084781; duration = 408; initialDepth = 145.968053; finalDepth = 146.080586; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.119527 # Actual altitude: 50.119527 # Commanded vehicle depth: 146.080586 # Seafloor depth: -196.200113 # 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 9 # Segment length 102.116867 meters # Minimum depth: 195.968053 meters looking forward 100.000000 meters along route # Maximum depth: 196.152366 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 145.968053 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.854307; longitude = -135.087021; duration = 408; initialDepth = 145.794397; finalDepth = 145.968053; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.126496 # Actual altitude: 50.126496 # Commanded vehicle depth: 145.968053 # Seafloor depth: -196.094549 # 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 during line 9 # Segment length 102.118670 meters # Minimum depth: 195.794397 meters looking forward 100.000000 meters along route # Maximum depth: 196.092975 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 145.794397 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.853761; longitude = -135.089262; duration = 408; initialDepth = 146.041911; finalDepth = 145.794397; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.152927 # Actual altitude: 50.152927 # Commanded vehicle depth: 145.794397 # Seafloor depth: -195.947324 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 102.120473 meters # Minimum depth: 196.041911 meters looking forward 100.000000 meters along route # Maximum depth: 196.552277 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 146.041911 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.853216; longitude = -135.091502; duration = 408; initialDepth = 145.562292; finalDepth = 146.041911; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.152927 # Actual altitude: 50.152927 # Commanded vehicle depth: 146.041911 # Seafloor depth: -196.055114 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 103.621947 meters # Minimum depth: 195.562292 meters looking forward 100.000000 meters along route # Maximum depth: 196.598317 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 145.562292 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.852670; longitude = -135.093743; duration = 414; initialDepth = 146.599009; finalDepth = 145.562292; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.865423 # Actual altitude: 50.865423 # Commanded vehicle depth: 145.562292 # Seafloor depth: -196.427715 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 100.624412 meters # Minimum depth: 196.599009 meters looking forward 100.000000 meters along route # Maximum depth: 197.246717 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 146.599009 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.852117; longitude = -135.096016; duration = 402; initialDepth = 147.263965; finalDepth = 146.599009; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.865423 # Actual altitude: 50.865423 # Commanded vehicle depth: 146.599009 # Seafloor depth: -196.599009 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 102.125884 meters # Minimum depth: 197.263965 meters looking forward 100.000000 meters along route # Maximum depth: 198.181738 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 147.263965 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.851579; longitude = -135.098223; duration = 408; initialDepth = 148.230375; finalDepth = 147.263965; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 147.263965 # Seafloor depth: -197.263965 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 102.127689 meters # Minimum depth: 198.230375 meters looking forward 100.000000 meters along route # Maximum depth: 199.153117 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 148.230375 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.851034; longitude = -135.100464; duration = 408; initialDepth = 149.387752; finalDepth = 148.230375; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 148.230375 # Seafloor depth: -198.230375 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 102.129492 meters # Minimum depth: 199.387752 meters looking forward 100.000000 meters along route # Maximum depth: 200.733058 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 149.387752 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.850488; longitude = -135.102704; duration = 408; initialDepth = 150.338469; finalDepth = 149.387752; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 149.387752 # Seafloor depth: -199.387752 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 102.786876 meters # Minimum depth: 200.338469 meters looking forward 100.000000 meters along route # Maximum depth: 201.580817 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 150.338469 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.849942; longitude = -135.104945; duration = 411; initialDepth = 149.704144; finalDepth = 150.338469; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.552299 # Actual altitude: 50.552299 # Commanded vehicle depth: 150.338469 # Seafloor depth: -200.890768 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 101.477519 meters # Minimum depth: 199.704144 meters looking forward 100.000000 meters along route # Maximum depth: 200.396135 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 149.704144 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.849393; longitude = -135.107200; duration = 405; initialDepth = 149.821225; finalDepth = 149.704144; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.565477 # Actual altitude: 50.565477 # Commanded vehicle depth: 149.704144 # Seafloor depth: -200.269621 # 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 9 # Segment length 102.134904 meters # Minimum depth: 199.821225 meters looking forward 100.000000 meters along route # Maximum depth: 200.382198 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 149.821225 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.848851; longitude = -135.109426; duration = 408; initialDepth = 150.023911; finalDepth = 149.821225; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.565477 # Actual altitude: 50.565477 # Commanded vehicle depth: 149.821225 # Seafloor depth: -200.186234 # 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 9 # Segment length 102.136707 meters # Minimum depth: 200.023911 meters looking forward 100.000000 meters along route # Maximum depth: 201.025726 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 150.023911 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.848306; longitude = -135.111666; duration = 408; initialDepth = 149.838068; finalDepth = 150.023911; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.404176 # Actual altitude: 50.404176 # Commanded vehicle depth: 150.023911 # Seafloor depth: -200.428087 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 102.138512 meters # Minimum depth: 199.838068 meters looking forward 100.000000 meters along route # Maximum depth: 201.058807 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 149.838068 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.847760; longitude = -135.113907; duration = 408; initialDepth = 151.081342; finalDepth = 149.838068; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.404176 # Actual altitude: 50.404176 # Commanded vehicle depth: 149.838068 # Seafloor depth: -199.848828 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 102.140315 meters # Minimum depth: 201.081342 meters looking forward 100.000000 meters along route # Maximum depth: 201.691827 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 151.081342 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.847215; longitude = -135.116147; duration = 408; initialDepth = 150.992141; finalDepth = 151.081342; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.01076 # Actual altitude: 50.01076 # Commanded vehicle depth: 151.081342 # Seafloor depth: -201.081342 # 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 9 # Segment length 102.142119 meters # Minimum depth: 200.992141 meters looking forward 100.000000 meters along route # Maximum depth: 201.730256 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 150.992141 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.846669; longitude = -135.118387; duration = 408; initialDepth = 151.349999; finalDepth = 150.992141; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.70569 # Actual altitude: 50.70569 # Commanded vehicle depth: 150.992141 # Seafloor depth: -201.697831 # 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 9 # Segment length 102.143923 meters # Minimum depth: 201.349999 meters looking forward 100.000000 meters along route # Maximum depth: 202.305622 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 151.349999 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.846124; longitude = -135.120628; duration = 408; initialDepth = 152.355955; finalDepth = 151.349999; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.70569 # Actual altitude: 50.70569 # Commanded vehicle depth: 151.349999 # Seafloor depth: -201.349999 # 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 9 # Segment length 102.145727 meters # Minimum depth: 202.355955 meters looking forward 100.000000 meters along route # Maximum depth: 202.626355 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 152.355955 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.845578; longitude = -135.122868; duration = 408; initialDepth = 152.696011; finalDepth = 152.355955; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 152.355955 # Seafloor depth: -202.355955 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 103.770684 meters # Minimum depth: 202.696011 meters looking forward 100.000000 meters along route # Maximum depth: 203.064709 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 152.696011 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.845033; longitude = -135.125109; duration = 415; initialDepth = 153.081390; finalDepth = 152.696011; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 152.696011 # Seafloor depth: -202.696011 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 100.526183 meters # Minimum depth: 203.081390 meters looking forward 100.000000 meters along route # Maximum depth: 204.014591 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 153.081390 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.844478; longitude = -135.127385; duration = 402; initialDepth = 153.878028; finalDepth = 153.081390; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 153.08139 # Seafloor depth: -203.081390 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 102.151139 meters # Minimum depth: 203.878028 meters looking forward 100.000000 meters along route # Maximum depth: 204.094203 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 153.878028 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.843941; longitude = -135.129590; duration = 408; initialDepth = 153.888275; finalDepth = 153.878028; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.142045 # Actual altitude: 50.142045 # Commanded vehicle depth: 153.878028 # Seafloor depth: -204.020073 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 102.152944 meters # Minimum depth: 203.888275 meters looking forward 100.000000 meters along route # Maximum depth: 204.163020 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 153.888275 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.843396; longitude = -135.131830; duration = 408; initialDepth = 154.232505; finalDepth = 153.888275; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.208237 # Actual altitude: 50.208237 # Commanded vehicle depth: 153.888275 # Seafloor depth: -204.096512 # 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 9 # Segment length 102.154747 meters # Minimum depth: 204.232505 meters looking forward 100.000000 meters along route # Maximum depth: 204.734991 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 154.232505 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.842850; longitude = -135.134071; duration = 408; initialDepth = 154.604305; finalDepth = 154.232505; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.208237 # Actual altitude: 50.208237 # Commanded vehicle depth: 154.232505 # Seafloor depth: -204.232505 # 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 9 # Segment length 102.935418 meters # Minimum depth: 204.604305 meters looking forward 100.000000 meters along route # Maximum depth: 204.835584 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 154.604305 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.842305; longitude = -135.136311; duration = 411; initialDepth = 154.550516; finalDepth = 154.604305; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.016327 # Actual altitude: 50.016327 # Commanded vehicle depth: 154.604305 # Seafloor depth: -204.620632 # 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 9 # Segment length 101.379490 meters # Minimum depth: 204.550516 meters looking forward 100.000000 meters along route # Maximum depth: 204.833512 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 154.550516 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.841755; longitude = -135.138569; duration = 405; initialDepth = 154.758471; finalDepth = 154.550516; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.103071 # Actual altitude: 50.103071 # Commanded vehicle depth: 154.550516 # Seafloor depth: -204.653587 # 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 9 # Segment length 102.160160 meters # Minimum depth: 204.758471 meters looking forward 100.000000 meters along route # Maximum depth: 204.882317 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 154.758471 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.841214; longitude = -135.140792; duration = 408; initialDepth = 154.760299; finalDepth = 154.758471; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.103071 # Actual altitude: 50.103071 # Commanded vehicle depth: 154.758471 # Seafloor depth: -204.851210 # 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 9 # Segment length 102.161965 meters # Minimum depth: 204.760299 meters looking forward 100.000000 meters along route # Maximum depth: 204.881915 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 154.760299 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.840668; longitude = -135.143032; duration = 408; initialDepth = 154.897665; finalDepth = 154.760299; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.092739 # Actual altitude: 50.092739 # Commanded vehicle depth: 154.760299 # Seafloor depth: -204.760299 # 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 9 # Segment length 102.163768 meters # Minimum depth: 204.897665 meters looking forward 100.000000 meters along route # Maximum depth: 205.197231 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 154.897665 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.840123; longitude = -135.145273; duration = 408; initialDepth = 155.124692; finalDepth = 154.897665; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 154.897665 # Seafloor depth: -204.897665 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 102.165574 meters # Minimum depth: 205.124692 meters looking forward 100.000000 meters along route # Maximum depth: 205.376082 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 155.124692 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.839577; longitude = -135.147513; duration = 408; initialDepth = 154.744491; finalDepth = 155.124692; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.136932 # Actual altitude: 50.136932 # Commanded vehicle depth: 155.124692 # Seafloor depth: -205.261624 # 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 during line 9 # Segment length 102.167377 meters # Minimum depth: 204.744491 meters looking forward 100.000000 meters along route # Maximum depth: 205.123988 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 154.744491 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.839032; longitude = -135.149754; duration = 408; initialDepth = 154.805545; finalDepth = 154.744491; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.379497 # Actual altitude: 50.379497 # Commanded vehicle depth: 154.744491 # Seafloor depth: -205.123988 # 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 9 # Segment length 102.169182 meters # Minimum depth: 204.805545 meters looking forward 100.000000 meters along route # Maximum depth: 205.688813 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 154.805545 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.838486; longitude = -135.151994; duration = 408; initialDepth = 155.775537; finalDepth = 154.805545; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.379497 # Actual altitude: 50.379497 # Commanded vehicle depth: 154.805545 # Seafloor depth: -204.827744 # 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 9 # Segment length 102.170986 meters # Minimum depth: 205.775537 meters looking forward 100.000000 meters along route # Maximum depth: 206.236598 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 155.775537 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.837940; longitude = -135.154235; duration = 408; initialDepth = 156.176267; finalDepth = 155.775537; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.022199 # Actual altitude: 50.022199 # Commanded vehicle depth: 155.775537 # Seafloor depth: -205.775537 # 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 9 # Segment length 103.919488 meters # Minimum depth: 206.176267 meters looking forward 100.000000 meters along route # Maximum depth: 206.348551 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 156.176267 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.837395; longitude = -135.156475; duration = 415; initialDepth = 156.264037; finalDepth = 156.176267; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.006269 # Actual altitude: 50.006269 # Commanded vehicle depth: 156.176267 # Seafloor depth: -206.182536 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 105.632555 meters # Minimum depth: 206.264037 meters looking forward 100.000000 meters along route # Maximum depth: 207.141049 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 156.264037 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.836840; longitude = -135.158754; duration = 422; initialDepth = 156.659145; finalDepth = 156.264037; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.006269 # Actual altitude: 50.006269 # Commanded vehicle depth: 156.264037 # Seafloor depth: -206.264037 # 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 8 # Segment length 149.930374 meters # Minimum depth: 206.659145 meters looking forward 100.000000 meters along route # Maximum depth: 218.251768 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 156.659145 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.836276; longitude = -135.161070; duration = 599; # abortOnTimeout = True; initialDepth = 168.171577; finalDepth = 156.659145; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 156.659145 # Seafloor depth: -206.659145 # 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 7 # Segment length 160.718313 meters # Minimum depth: 218.171577 meters looking forward 100.000000 meters along route # Maximum depth: 218.369020 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 168.171577 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.837355; longitude = -135.163511; duration = 642; # abortOnTimeout = True; initialDepth = 167.817230; finalDepth = 168.171577; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 168.171577 # Seafloor depth: -218.171577 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 102.163914 meters # Minimum depth: 217.817230 meters looking forward 100.000000 meters along route # Maximum depth: 218.207155 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 167.817230 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.838213; longitude = -135.159987; duration = 408; initialDepth = 166.931438; finalDepth = 167.817230; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.389925 # Actual altitude: 50.389925 # Commanded vehicle depth: 167.81723 # Seafloor depth: -218.207155 # 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 7 # Segment length 103.335474 meters # Minimum depth: 216.931438 meters looking forward 100.000000 meters along route # Maximum depth: 217.755919 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 166.931438 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.838759; longitude = -135.157746; duration = 413; initialDepth = 166.933065; finalDepth = 166.931438; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.824481 # Actual altitude: 50.824481 # Commanded vehicle depth: 166.931438 # Seafloor depth: -217.755919 # 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 7 # Segment length 100.986942 meters # Minimum depth: 216.933065 meters looking forward 100.000000 meters along route # Maximum depth: 217.710792 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 166.933065 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.839311; longitude = -135.155480; duration = 403; initialDepth = 167.689219; finalDepth = 166.933065; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.824481 # Actual altitude: 50.824481 # Commanded vehicle depth: 166.933065 # Seafloor depth: -216.933065 # 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 7 # Segment length 102.158501 meters # Minimum depth: 217.689219 meters looking forward 100.000000 meters along route # Maximum depth: 217.894366 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 167.689219 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.839850; longitude = -135.153266; duration = 408; initialDepth = 166.966578; finalDepth = 167.689219; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.027736 # Actual altitude: 50.027736 # Commanded vehicle depth: 167.689219 # Seafloor depth: -217.716955 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 102.156697 meters # Minimum depth: 216.966578 meters looking forward 100.000000 meters along route # Maximum depth: 217.900512 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 166.966578 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.840395; longitude = -135.151026; duration = 408; initialDepth = 166.714382; finalDepth = 166.966578; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.933934 # Actual altitude: 50.933934 # Commanded vehicle depth: 166.966578 # Seafloor depth: -217.900512 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 102.154893 meters # Minimum depth: 216.714382 meters looking forward 100.000000 meters along route # Maximum depth: 217.028459 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 166.714382 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.840941; longitude = -135.148785; duration = 408; initialDepth = 165.853252; finalDepth = 166.714382; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.933934 # Actual altitude: 50.933934 # Commanded vehicle depth: 166.714382 # Seafloor depth: -216.959583 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 102.515757 meters # Minimum depth: 215.853252 meters looking forward 100.000000 meters along route # Maximum depth: 217.046685 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 165.853252 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.841486; longitude = -135.146545; duration = 410; initialDepth = 164.808577; finalDepth = 165.853252; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.193433 # Actual altitude: 51.193433 # Commanded vehicle depth: 165.853252 # Seafloor depth: -217.046685 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 101.788617 meters # Minimum depth: 214.808577 meters looking forward 100.000000 meters along route # Maximum depth: 215.846281 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 164.808577 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.842034; longitude = -135.144297; duration = 407; initialDepth = 164.792676; finalDepth = 164.808577; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.193433 # Actual altitude: 51.193433 # Commanded vehicle depth: 164.808577 # Seafloor depth: -215.846281 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 102.149481 meters # Minimum depth: 214.792676 meters looking forward 100.000000 meters along route # Maximum depth: 215.477774 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 164.792676 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.842578; longitude = -135.142064; duration = 408; initialDepth = 165.420757; finalDepth = 164.792676; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.037704 # Actual altitude: 51.037704 # Commanded vehicle depth: 164.792676 # Seafloor depth: -214.806609 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 102.147677 meters # Minimum depth: 215.420757 meters looking forward 100.000000 meters along route # Maximum depth: 215.654669 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 165.420757 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.843123; longitude = -135.139824; duration = 408; initialDepth = 164.875122; finalDepth = 165.420757; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.070006 # Actual altitude: 50.070006 # Commanded vehicle depth: 165.420757 # Seafloor depth: -215.490763 # 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 7 # Segment length 102.145872 meters # Minimum depth: 214.875122 meters looking forward 100.000000 meters along route # Maximum depth: 215.574053 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 164.875122 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.843669; longitude = -135.137584; duration = 408; initialDepth = 164.769096; finalDepth = 164.875122; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.698267 # Actual altitude: 50.698267 # Commanded vehicle depth: 164.875122 # Seafloor depth: -215.573389 # 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 7 # Segment length 102.144069 meters # Minimum depth: 214.769096 meters looking forward 100.000000 meters along route # Maximum depth: 214.979816 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 164.769096 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.844214; longitude = -135.135344; duration = 408; initialDepth = 164.442092; finalDepth = 164.769096; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.698267 # Actual altitude: 50.698267 # Commanded vehicle depth: 164.769096 # Seafloor depth: -214.860023 # 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 7 # Segment length 102.142265 meters # Minimum depth: 214.442092 meters looking forward 100.000000 meters along route # Maximum depth: 214.769487 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 164.442092 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.844760; longitude = -135.133103; duration = 408; initialDepth = 163.412488; finalDepth = 164.442092; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.327395 # Actual altitude: 50.327395 # Commanded vehicle depth: 164.442092 # Seafloor depth: -214.769487 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 102.140461 meters # Minimum depth: 213.412488 meters looking forward 100.000000 meters along route # Maximum depth: 214.432373 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 163.412488 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.845305; longitude = -135.130863; duration = 408; initialDepth = 162.966053; finalDepth = 163.412488; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.019885 # Actual altitude: 51.019885 # Commanded vehicle depth: 163.412488 # Seafloor depth: -214.432373 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 102.138657 meters # Minimum depth: 212.966053 meters looking forward 100.000000 meters along route # Maximum depth: 213.398274 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 162.966053 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.845851; longitude = -135.128623; duration = 408; initialDepth = 162.251475; finalDepth = 162.966053; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.019885 # Actual altitude: 51.019885 # Commanded vehicle depth: 162.966053 # Seafloor depth: -213.398274 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 103.527794 meters # Minimum depth: 212.251475 meters looking forward 100.000000 meters along route # Maximum depth: 212.930551 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 162.251475 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.846396; longitude = -135.126382; duration = 414; initialDepth = 161.362406; finalDepth = 162.251475; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.679076 # Actual altitude: 50.679076 # Commanded vehicle depth: 162.251475 # Seafloor depth: -212.930551 # 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 7 # Segment length 100.744109 meters # Minimum depth: 211.362406 meters looking forward 100.000000 meters along route # Maximum depth: 212.237265 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 161.362406 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.846949; longitude = -135.124112; duration = 402; initialDepth = 161.125069; finalDepth = 161.362406; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.874859 # Actual altitude: 50.874859 # Commanded vehicle depth: 161.362406 # Seafloor depth: -212.237265 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 102.133245 meters # Minimum depth: 211.125069 meters looking forward 100.000000 meters along route # Maximum depth: 211.439750 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 161.125069 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.847487; longitude = -135.121902; duration = 408; initialDepth = 160.678627; finalDepth = 161.125069; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.874859 # Actual altitude: 50.874859 # Commanded vehicle depth: 161.125069 # Seafloor depth: -211.348275 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 102.131442 meters # Minimum depth: 210.678627 meters looking forward 100.000000 meters along route # Maximum depth: 211.134910 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 160.678627 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.848033; longitude = -135.119661; duration = 408; initialDepth = 159.652975; finalDepth = 160.678627; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.456283 # Actual altitude: 50.456283 # Commanded vehicle depth: 160.678627 # Seafloor depth: -211.134910 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 102.129638 meters # Minimum depth: 209.652975 meters looking forward 100.000000 meters along route # Maximum depth: 210.614013 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 159.652975 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.848579; longitude = -135.117421; duration = 408; initialDepth = 158.991810; finalDepth = 159.652975; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.932058 # Actual altitude: 50.932058 # Commanded vehicle depth: 159.652975 # Seafloor depth: -210.585033 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 102.708260 meters # Minimum depth: 208.991810 meters looking forward 100.000000 meters along route # Maximum depth: 209.650872 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 158.991810 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.849124; longitude = -135.115181; duration = 410; initialDepth = 159.489307; finalDepth = 158.991810; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.932058 # Actual altitude: 50.932058 # Commanded vehicle depth: 158.99181 # Seafloor depth: -209.445009 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 101.545605 meters # Minimum depth: 209.489307 meters looking forward 100.000000 meters along route # Maximum depth: 209.704448 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 159.489307 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.849673; longitude = -135.112928; duration = 406; initialDepth = 159.561947; finalDepth = 159.489307; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.453199 # Actual altitude: 50.453199 # Commanded vehicle depth: 159.489307 # Seafloor depth: -209.489307 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 102.124227 meters # Minimum depth: 209.561947 meters looking forward 100.000000 meters along route # Maximum depth: 211.959398 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 159.561947 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.850215; longitude = -135.110700; duration = 408; initialDepth = 160.645792; finalDepth = 159.561947; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.034306 # Actual altitude: 50.034306 # Commanded vehicle depth: 159.561947 # Seafloor depth: -209.596253 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 102.122424 meters # Minimum depth: 210.645792 meters looking forward 100.000000 meters along route # Maximum depth: 211.792836 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 160.645792 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.850761; longitude = -135.108460; duration = 408; initialDepth = 159.315470; finalDepth = 160.645792; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.147044 # Actual altitude: 51.147044 # Commanded vehicle depth: 160.645792 # Seafloor depth: -211.792836 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 102.120620 meters # Minimum depth: 209.315470 meters looking forward 100.000000 meters along route # Maximum depth: 211.021518 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 159.315470 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.851306; longitude = -135.106220; duration = 408; initialDepth = 157.951008; finalDepth = 159.315470; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.368356 # Actual altitude: 51.368356 # Commanded vehicle depth: 159.31547 # Seafloor depth: -210.683826 # 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 7 # Segment length 102.118816 meters # Minimum depth: 207.951008 meters looking forward 100.000000 meters along route # Maximum depth: 209.126906 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 157.951008 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.851852; longitude = -135.103979; duration = 408; initialDepth = 157.348496; finalDepth = 157.951008; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.368356 # Actual altitude: 51.368356 # Commanded vehicle depth: 157.951008 # Seafloor depth: -209.126906 # 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 7 # Segment length 102.117013 meters # Minimum depth: 207.348496 meters looking forward 100.000000 meters along route # Maximum depth: 207.950598 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 157.348496 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.852397; longitude = -135.101739; duration = 408; initialDepth = 156.841775; finalDepth = 157.348496; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.175898 # Actual altitude: 51.175898 # Commanded vehicle depth: 157.348496 # Seafloor depth: -207.950598 # 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 7 # Segment length 102.115209 meters # Minimum depth: 206.841775 meters looking forward 100.000000 meters along route # Maximum depth: 207.567995 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 156.841775 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.852943; longitude = -135.099499; duration = 408; initialDepth = 157.096625; finalDepth = 156.841775; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.602102 # Actual altitude: 50.602102 # Commanded vehicle depth: 156.841775 # Seafloor depth: -207.364245 # 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 7 # Segment length 102.113406 meters # Minimum depth: 207.096625 meters looking forward 100.000000 meters along route # Maximum depth: 208.547575 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 157.096625 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.853489; longitude = -135.097258; duration = 408; initialDepth = 157.911039; finalDepth = 157.096625; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.52247 # Actual altitude: 50.52247 # Commanded vehicle depth: 157.096625 # Seafloor depth: -207.096625 # 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 7 # Segment length 103.720012 meters # Minimum depth: 207.911039 meters looking forward 100.000000 meters along route # Maximum depth: 208.599796 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 157.911039 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.854034; longitude = -135.095018; duration = 414; initialDepth = 157.607006; finalDepth = 157.911039; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.688757 # Actual altitude: 50.688757 # Commanded vehicle depth: 157.911039 # Seafloor depth: -208.599796 # 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 7 # Segment length 100.501389 meters # Minimum depth: 207.607006 meters looking forward 100.000000 meters along route # Maximum depth: 208.172676 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 157.607006 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.854588; longitude = -135.092743; duration = 402; initialDepth = 157.353526; finalDepth = 157.607006; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.688757 # Actual altitude: 50.688757 # Commanded vehicle depth: 157.607006 # Seafloor depth: -208.172676 # 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 7 # Segment length 102.107995 meters # Minimum depth: 207.353526 meters looking forward 100.000000 meters along route # Maximum depth: 207.761837 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 157.353526 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.855125; longitude = -135.090538; duration = 408; initialDepth = 156.479464; finalDepth = 157.353526; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.56567 # Actual altitude: 50.56567 # Commanded vehicle depth: 157.353526 # Seafloor depth: -207.603183 # 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 7 # Segment length 102.106192 meters # Minimum depth: 206.479464 meters looking forward 100.000000 meters along route # Maximum depth: 207.382683 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 156.479464 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.855671; longitude = -135.088297; duration = 408; initialDepth = 155.728783; finalDepth = 156.479464; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.809659 # Actual altitude: 50.809659 # Commanded vehicle depth: 156.479464 # Seafloor depth: -207.289123 # 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 7 # Segment length 102.104389 meters # Minimum depth: 205.728783 meters looking forward 100.000000 meters along route # Maximum depth: 206.280173 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 155.728783 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.856216; longitude = -135.086057; duration = 408; initialDepth = 155.244059; finalDepth = 155.728783; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.809659 # Actual altitude: 50.809659 # Commanded vehicle depth: 155.728783 # Seafloor depth: -206.280173 # 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 7 # Segment length 102.900661 meters # Minimum depth: 205.244059 meters looking forward 100.000000 meters along route # Maximum depth: 205.920397 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 155.244059 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.856762; longitude = -135.083817; duration = 411; initialDepth = 155.000758; finalDepth = 155.244059; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.55139 # Actual altitude: 50.55139 # Commanded vehicle depth: 155.244059 # Seafloor depth: -205.491453 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 101.302706 meters # Minimum depth: 205.000758 meters looking forward 100.000000 meters along route # Maximum depth: 205.863641 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 155.000758 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.857312; longitude = -135.081559; duration = 405; initialDepth = 154.634218; finalDepth = 155.000758; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.862883 # Actual altitude: 50.862883 # Commanded vehicle depth: 155.000758 # Seafloor depth: -205.863641 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 110.031691 meters # Minimum depth: 204.634218 meters looking forward 100.000000 meters along route # Maximum depth: 205.948692 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 154.634218 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.857853; longitude = -135.079336; duration = 440; initialDepth = 154.735110; finalDepth = 154.634218; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.862883 # Actual altitude: 50.862883 # Commanded vehicle depth: 154.634218 # Seafloor depth: -204.980234 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 111.879788 meters # Minimum depth: 204.735110 meters looking forward 100.000000 meters along route # Maximum depth: 205.389284 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 154.735110 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.858441; longitude = -135.076922; duration = 447; initialDepth = 154.097471; finalDepth = 154.735110; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.346016 # Actual altitude: 50.346016 # Commanded vehicle depth: 154.73511 # Seafloor depth: -204.735110 # 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 7 # Segment length 111.877623 meters # Minimum depth: 204.097471 meters looking forward 100.000000 meters along route # Maximum depth: 204.972027 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 154.097471 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.859039; longitude = -135.074467; duration = 447; initialDepth = 154.205626; finalDepth = 154.097471; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.333792 # Actual altitude: 50.333792 # Commanded vehicle depth: 154.097471 # Seafloor depth: -204.431263 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 103.027534 meters # Minimum depth: 204.205626 meters looking forward 100.000000 meters along route # Maximum depth: 204.868372 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 154.205626 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.859636; longitude = -135.072012; duration = 412; initialDepth = 154.148621; finalDepth = 154.205626; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.587027 # Actual altitude: 50.587027 # Commanded vehicle depth: 154.205626 # Seafloor depth: -204.792653 # 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; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 160.764993 meters # Minimum depth: 204.148621 meters looking forward 100.000000 meters along route # Maximum depth: 210.365159 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 154.148621 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.860187; longitude = -135.069751; duration = 643; # abortOnTimeout = True; initialDepth = 155.146523; finalDepth = 154.148621; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.587027 # Actual altitude: 50.587027 # Commanded vehicle depth: 154.148621 # Seafloor depth: -204.148621 # 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; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 91.317170 meters # Minimum depth: 205.146523 meters looking forward 100.000000 meters along route # Maximum depth: 210.365159 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 155.146523 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.859990; longitude = -135.074103; duration = 365; # abortOnTimeout = True; initialDepth = 149.298523; finalDepth = 155.146523; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.744918 # Actual altitude: 54.744918 # Commanded vehicle depth: 155.146523 # Seafloor depth: -209.891441 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 112.809853 meters # Minimum depth: 199.298523 meters looking forward 100.000000 meters along route # Maximum depth: 203.911853 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 149.298523 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.859347; longitude = -135.072557; duration = 451; initialDepth = 139.259670; finalDepth = 149.298523; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.744918 # Actual altitude: 54.744918 # Commanded vehicle depth: 149.298523 # Seafloor depth: -203.911853 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 112.811574 meters # Minimum depth: 189.259670 meters looking forward 100.000000 meters along route # Maximum depth: 197.165041 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 139.259670 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.858553; longitude = -135.070648; duration = 451; initialDepth = 131.002753; finalDepth = 139.259670; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.905371 # Actual altitude: 57.905371 # Commanded vehicle depth: 139.25967 # Seafloor depth: -197.165041 # 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 5 # Segment length 112.813294 meters # Minimum depth: 181.002753 meters looking forward 100.000000 meters along route # Maximum depth: 188.258717 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 131.002753 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.857759; longitude = -135.068739; duration = 451; initialDepth = 125.568290; finalDepth = 131.002753; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.905371 # Actual altitude: 57.905371 # Commanded vehicle depth: 131.002753 # Seafloor depth: -188.258717 # 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 5 # Segment length 106.369250 meters # Minimum depth: 175.568290 meters looking forward 100.000000 meters along route # Maximum depth: 180.533857 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 125.568290 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.856965; longitude = -135.066829; duration = 425; initialDepth = 122.615755; finalDepth = 125.568290; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.255964 # Actual altitude: 57.255964 # Commanded vehicle depth: 125.56829 # Seafloor depth: -180.533857 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 103.145719 meters # Minimum depth: 172.615755 meters looking forward 100.000000 meters along route # Maximum depth: 175.818864 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 122.615755 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.856216; longitude = -135.065029; duration = 412; initialDepth = 115.015278; finalDepth = 122.615755; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.965567 # Actual altitude: 54.965567 # Commanded vehicle depth: 122.615755 # Seafloor depth: -175.278946 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 112.818211 meters # Minimum depth: 165.015278 meters looking forward 100.000000 meters along route # Maximum depth: 169.415930 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 115.015278 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.855490; longitude = -135.063283; duration = 451; initialDepth = 109.173325; finalDepth = 115.015278; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.400652 # Actual altitude: 54.400652 # Commanded vehicle depth: 115.015278 # Seafloor depth: -169.415930 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 112.819932 meters # Minimum depth: 159.173325 meters looking forward 100.000000 meters along route # Maximum depth: 163.956762 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 109.173325 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.854696; longitude = -135.061374; duration = 451; initialDepth = 105.884595; finalDepth = 109.173325; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.783437 # Actual altitude: 54.783437 # Commanded vehicle depth: 109.173325 # Seafloor depth: -163.956762 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 112.821652 meters # Minimum depth: 155.884595 meters looking forward 100.000000 meters along route # Maximum depth: 157.823567 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 105.884595 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.853902; longitude = -135.059464; duration = 451; initialDepth = 99.768058; finalDepth = 105.884595; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.783437 # Actual altitude: 54.783437 # Commanded vehicle depth: 105.884595 # Seafloor depth: -157.823567 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 112.823373 meters # Minimum depth: 149.768058 meters looking forward 100.000000 meters along route # Maximum depth: 154.198632 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 99.768058 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.853108; longitude = -135.057555; duration = 451; initialDepth = 96.983071; finalDepth = 99.768058; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.036894 # Actual altitude: 53.036894 # Commanded vehicle depth: 99.768058 # Seafloor depth: -152.804952 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 112.825094 meters # Minimum depth: 146.983071 meters looking forward 100.000000 meters along route # Maximum depth: 153.542539 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 96.983071 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.852314; longitude = -135.055645; duration = 451; initialDepth = 97.158991; finalDepth = 96.983071; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.559468 # Actual altitude: 56.559468 # Commanded vehicle depth: 96.983071 # Seafloor depth: -153.542539 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.849397 meters # Minimum depth: 147.158991 meters looking forward 100.000000 meters along route # Maximum depth: 151.115871 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 97.158991 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.851520; longitude = -135.053736; duration = 431; initialDepth = 99.054158; finalDepth = 97.158991; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.559468 # Actual altitude: 56.559468 # Commanded vehicle depth: 97.158991 # Seafloor depth: -147.380779 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 101.687487 meters # Minimum depth: 149.054158 meters looking forward 100.000000 meters along route # Maximum depth: 154.695559 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 99.054158 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.850761; longitude = -135.051911; duration = 406; initialDepth = 80.530831; finalDepth = 99.054158; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.221788 # Actual altitude: 50.221788 # Commanded vehicle depth: 99.054158 # Seafloor depth: -149.054158 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 112.830012 meters # Minimum depth: 130.530831 meters looking forward 100.000000 meters along route # Maximum depth: 145.243826 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 80.530831 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.850045; longitude = -135.050190; duration = 451; initialDepth = 82.162796; finalDepth = 80.530831; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.712995 # Actual altitude: 64.712995 # Commanded vehicle depth: 80.530831 # Seafloor depth: -145.243826 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 112.831732 meters # Minimum depth: 132.162796 meters looking forward 100.000000 meters along route # Maximum depth: 133.658623 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 82.162796 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.849251; longitude = -135.048281; duration = 451; initialDepth = 82.245303; finalDepth = 82.162796; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.712995 # Actual altitude: 64.712995 # Commanded vehicle depth: 82.162796 # Seafloor depth: -132.162796 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 112.833454 meters # Minimum depth: 132.245303 meters looking forward 100.000000 meters along route # Maximum depth: 132.732745 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 82.245303 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.848457; longitude = -135.046371; duration = 451; initialDepth = 81.662410; finalDepth = 82.245303; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.25214 # Actual altitude: 50.25214 # Commanded vehicle depth: 82.245303 # Seafloor depth: -132.497443 # 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 5 # Segment length 112.835175 meters # Minimum depth: 131.662410 meters looking forward 100.000000 meters along route # Maximum depth: 132.624206 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 81.662410 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.847663; longitude = -135.044462; duration = 451; initialDepth = 82.634730; finalDepth = 81.662410; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.761806 # Actual altitude: 50.761806 # Commanded vehicle depth: 81.66241 # Seafloor depth: -132.424216 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 112.836896 meters # Minimum depth: 132.634730 meters looking forward 100.000000 meters along route # Maximum depth: 134.808160 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 82.634730 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.846869; longitude = -135.042552; duration = 451; initialDepth = 84.134257; finalDepth = 82.634730; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.761806 # Actual altitude: 50.761806 # Commanded vehicle depth: 82.63473 # Seafloor depth: -132.634730 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 109.329853 meters # Minimum depth: 134.134257 meters looking forward 100.000000 meters along route # Maximum depth: 146.502146 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 84.134257 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.846075; longitude = -135.040643; duration = 437; initialDepth = 96.518546; finalDepth = 84.134257; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.008418 # Actual altitude: 50.008418 # Commanded vehicle depth: 84.134257 # Seafloor depth: -134.142675 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.228950 meters # Minimum depth: 146.518546 meters looking forward 100.000000 meters along route # Maximum depth: 150.468588 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 96.518546 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.845305; longitude = -135.038793; duration = 400; initialDepth = 75.173480; finalDepth = 96.518546; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.495226 # Actual altitude: 52.495226 # Commanded vehicle depth: 96.518546 # Seafloor depth: -149.013772 # 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 5 # Segment length 112.841814 meters # Minimum depth: 125.173480 meters looking forward 100.000000 meters along route # Maximum depth: 151.330110 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 75.173480 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.844600; longitude = -135.037097; duration = 451; initialDepth = 72.299250; finalDepth = 75.173480; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.15663 # Actual altitude: 76.15663 # Commanded vehicle depth: 75.17348 # Seafloor depth: -151.330110 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 112.843536 meters # Minimum depth: 122.299250 meters looking forward 100.000000 meters along route # Maximum depth: 125.285435 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 72.299250 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.843806; longitude = -135.035187; duration = 451; initialDepth = 68.356209; finalDepth = 72.299250; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.15663 # Actual altitude: 76.15663 # Commanded vehicle depth: 72.29925 # Seafloor depth: -125.285112 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 112.845257 meters # Minimum depth: 118.356209 meters looking forward 100.000000 meters along route # Maximum depth: 121.178353 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 68.356209 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.843012; longitude = -135.033278; duration = 451; initialDepth = 65.617900; finalDepth = 68.356209; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.985862 # Actual altitude: 52.985862 # Commanded vehicle depth: 68.356209 # Seafloor depth: -121.178353 # 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 5 # Segment length 100.149670 meters # Minimum depth: 115.617900 meters looking forward 100.000000 meters along route # Maximum depth: 117.724267 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.617900 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.842218; longitude = -135.031369; duration = 400; initialDepth = 65.738659; finalDepth = 65.617900; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.822144 # Actual altitude: 52.822144 # Commanded vehicle depth: 65.6179 # Seafloor depth: -117.724267 # 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; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 107.788361 meters # Minimum depth: 115.738659 meters looking forward 100.000000 meters along route # Maximum depth: 117.060501 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.738659 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.841513; longitude = -135.029674; duration = 431; # abortOnTimeout = True; initialDepth = 67.015256; finalDepth = 65.738659; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.106367 # Actual altitude: 52.106367 # Commanded vehicle depth: 65.738659 # Seafloor depth: -115.738659 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 105.579758 meters # Minimum depth: 117.015256 meters looking forward 100.000000 meters along route # Maximum depth: 117.260261 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 67.015256 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.840941; longitude = -135.032046; duration = 422; initialDepth = 66.417470; finalDepth = 67.015256; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.008576 # Actual altitude: 50.008576 # Commanded vehicle depth: 67.015256 # Seafloor depth: -117.023832 # 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 4 # Segment length 100.009901 meters # Minimum depth: 116.417470 meters looking forward 100.000000 meters along route # Maximum depth: 117.065607 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.417470 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.840381; longitude = -135.034369; duration = 400; initialDepth = 66.988651; finalDepth = 66.417470; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.648137 # Actual altitude: 50.648137 # Commanded vehicle depth: 66.41747 # Seafloor depth: -117.065607 # 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 4 # Segment length 102.797569 meters # Minimum depth: 116.988651 meters looking forward 100.000000 meters along route # Maximum depth: 117.387982 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.988651 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.839850; longitude = -135.036570; duration = 411; initialDepth = 67.147340; finalDepth = 66.988651; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.648137 # Actual altitude: 50.648137 # Commanded vehicle depth: 66.988651 # Seafloor depth: -116.988651 # 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 4 # Segment length 102.799397 meters # Minimum depth: 117.147340 meters looking forward 100.000000 meters along route # Maximum depth: 118.879778 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 67.147340 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.839304; longitude = -135.038832; duration = 411; initialDepth = 69.120877; finalDepth = 67.147340; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 67.14734 # Seafloor depth: -117.147340 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.489778 meters # Minimum depth: 119.120877 meters looking forward 100.000000 meters along route # Maximum depth: 125.283792 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 69.120877 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.838759; longitude = -135.041094; duration = 413; initialDepth = 74.253448; finalDepth = 69.120877; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 69.120877 # Seafloor depth: -119.120877 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 102.114496 meters # Minimum depth: 124.253448 meters looking forward 100.000000 meters along route # Maximum depth: 129.721021 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 74.253448 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.838210; longitude = -135.043371; duration = 408; initialDepth = 77.750117; finalDepth = 74.253448; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.963297 # Actual altitude: 50.963297 # Commanded vehicle depth: 74.253448 # Seafloor depth: -125.216745 # 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 4 # Segment length 108.643552 meters # Minimum depth: 127.750117 meters looking forward 100.000000 meters along route # Maximum depth: 135.853339 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 77.750117 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.837668; longitude = -135.045617; duration = 434; initialDepth = 73.255049; finalDepth = 77.750117; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.811861 # Actual altitude: 51.811861 # Commanded vehicle depth: 77.750117 # Seafloor depth: -129.561978 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 111.580899 meters # Minimum depth: 123.255049 meters looking forward 100.000000 meters along route # Maximum depth: 127.240749 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 73.255049 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.837091; longitude = -135.048008; duration = 446; initialDepth = 73.204220; finalDepth = 73.255049; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.9857 # Actual altitude: 53.9857 # Commanded vehicle depth: 73.255049 # Seafloor depth: -127.240749 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 111.583052 meters # Minimum depth: 123.204220 meters looking forward 100.000000 meters along route # Maximum depth: 123.524148 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 73.204220 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.836499; longitude = -135.050463; duration = 446; initialDepth = 72.574924; finalDepth = 73.204220; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.9857 # Actual altitude: 53.9857 # Commanded vehicle depth: 73.20422 # Seafloor depth: -123.206582 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 111.585204 meters # Minimum depth: 122.574924 meters looking forward 100.000000 meters along route # Maximum depth: 123.286999 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 72.574924 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.835907; longitude = -135.052918; duration = 446; initialDepth = 73.168852; finalDepth = 72.574924; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.712075 # Actual altitude: 50.712075 # Commanded vehicle depth: 72.574924 # Seafloor depth: -123.286999 # 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 4 # Segment length 111.587356 meters # Minimum depth: 123.168852 meters looking forward 100.000000 meters along route # Maximum depth: 124.489831 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 73.168852 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.835315; longitude = -135.055373; duration = 446; initialDepth = 73.931131; finalDepth = 73.168852; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.712075 # Actual altitude: 50.712075 # Commanded vehicle depth: 73.168852 # Seafloor depth: -123.168852 # 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 4 # Segment length 102.655400 meters # Minimum depth: 123.931131 meters looking forward 100.000000 meters along route # Maximum depth: 125.457440 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 73.931131 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.834723; longitude = -135.057828; duration = 410; initialDepth = 74.539665; finalDepth = 73.931131; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.256381 # Actual altitude: 50.256381 # Commanded vehicle depth: 73.931131 # Seafloor depth: -124.187512 # 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; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 78.123168 meters # Minimum depth: 124.539665 meters looking forward 100.000000 meters along route # Maximum depth: 125.603978 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 74.539665 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.834178; longitude = -135.060086; duration = 312; # abortOnTimeout = True; initialDepth = 74.416974; finalDepth = 74.539665; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.957512 # Actual altitude: 50.957512 # Commanded vehicle depth: 74.539665 # Seafloor depth: -125.497177 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 115.845570 meters # Minimum depth: 124.416974 meters looking forward 100.000000 meters along route # Maximum depth: 125.394369 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 74.416974 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.834736; longitude = -135.061374; duration = 463; initialDepth = 74.860714; finalDepth = 74.416974; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.957512 # Actual altitude: 50.957512 # Commanded vehicle depth: 74.416974 # Seafloor depth: -124.529370 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 115.843822 meters # Minimum depth: 124.860714 meters looking forward 100.000000 meters along route # Maximum depth: 127.689721 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 74.860714 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.835564; longitude = -135.063283; duration = 463; initialDepth = 78.208078; finalDepth = 74.860714; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.112396 # Actual altitude: 50.112396 # Commanded vehicle depth: 74.860714 # Seafloor depth: -124.860714 # 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 3 # Segment length 115.842074 meters # Minimum depth: 128.208078 meters looking forward 100.000000 meters along route # Maximum depth: 130.529809 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 78.208078 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.836392; longitude = -135.065192; duration = 463; initialDepth = 79.412984; finalDepth = 78.208078; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 78.208078 # Seafloor depth: -128.208078 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.796032 meters # Minimum depth: 129.412984 meters looking forward 100.000000 meters along route # Maximum depth: 133.670535 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 79.412984 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.837220; longitude = -135.067102; duration = 403; initialDepth = 83.763428; finalDepth = 79.412984; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.524673 # Actual altitude: 50.524673 # Commanded vehicle depth: 79.412984 # Seafloor depth: -129.937657 # 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 3 # Segment length 114.497076 meters # Minimum depth: 133.763428 meters looking forward 100.000000 meters along route # Maximum depth: 142.458360 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 83.763428 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.837940; longitude = -135.068763; duration = 457; initialDepth = 83.482309; finalDepth = 83.763428; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.524673 # Actual altitude: 50.524673 # Commanded vehicle depth: 83.763428 # Seafloor depth: -133.763428 # 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 3 # Segment length 115.674614 meters # Minimum depth: 133.482309 meters looking forward 100.000000 meters along route # Maximum depth: 145.569346 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 83.482309 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.838759; longitude = -135.070651; duration = 462; initialDepth = 83.532353; finalDepth = 83.482309; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.005291 # Actual altitude: 59.005291 # Commanded vehicle depth: 83.482309 # Seafloor depth: -142.487600 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 115.835331 meters # Minimum depth: 133.532353 meters looking forward 100.000000 meters along route # Maximum depth: 157.359919 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 83.532353 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.839585; longitude = -135.072557; duration = 463; initialDepth = 104.646296; finalDepth = 83.532353; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.005291 # Actual altitude: 59.005291 # Commanded vehicle depth: 83.532353 # Seafloor depth: -133.532353 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 115.833584 meters # Minimum depth: 154.646296 meters looking forward 100.000000 meters along route # Maximum depth: 158.358484 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 104.646296 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.840413; longitude = -135.074467; duration = 463; initialDepth = 103.667343; finalDepth = 104.646296; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.136005 # Actual altitude: 51.136005 # Commanded vehicle depth: 104.646296 # Seafloor depth: -155.782301 # 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 3 # Segment length 115.831836 meters # Minimum depth: 153.667343 meters looking forward 100.000000 meters along route # Maximum depth: 160.961182 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 103.667343 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.841241; longitude = -135.076376; duration = 463; initialDepth = 112.587330; finalDepth = 103.667343; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.136005 # Actual altitude: 51.136005 # Commanded vehicle depth: 103.667343 # Seafloor depth: -154.701083 # 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 3 # Segment length 115.830088 meters # Minimum depth: 162.587330 meters looking forward 100.000000 meters along route # Maximum depth: 170.333414 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 112.587330 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.842069; longitude = -135.078286; duration = 463; initialDepth = 117.506199; finalDepth = 112.587330; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.03374 # Actual altitude: 51.03374 # Commanded vehicle depth: 112.58733 # Seafloor depth: -162.587330 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 115.828340 meters # Minimum depth: 167.506199 meters looking forward 100.000000 meters along route # Maximum depth: 171.353522 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 117.506199 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.842897; longitude = -135.080195; duration = 463; initialDepth = 111.278331; finalDepth = 117.506199; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.968351 # Actual altitude: 51.968351 # Commanded vehicle depth: 117.506199 # Seafloor depth: -169.474550 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 115.826593 meters # Minimum depth: 161.278331 meters looking forward 100.000000 meters along route # Maximum depth: 171.721111 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 111.278331 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.843725; longitude = -135.082104; duration = 463; initialDepth = 105.513550; finalDepth = 111.278331; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.652744 # Actual altitude: 59.652744 # Commanded vehicle depth: 111.278331 # Seafloor depth: -170.931075 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 115.824845 meters # Minimum depth: 155.513550 meters looking forward 100.000000 meters along route # Maximum depth: 170.088774 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 105.513550 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.844553; longitude = -135.084014; duration = 463; initialDepth = 121.598186; finalDepth = 105.513550; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.652744 # Actual altitude: 59.652744 # Commanded vehicle depth: 105.51355 # Seafloor depth: -159.955322 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 115.823098 meters # Minimum depth: 171.598186 meters looking forward 100.000000 meters along route # Maximum depth: 176.101136 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 121.598186 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.845381; longitude = -135.085923; duration = 463; initialDepth = 121.301172; finalDepth = 121.598186; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.441772 # Actual altitude: 54.441772 # Commanded vehicle depth: 121.598186 # Seafloor depth: -171.598186 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 115.821350 meters # Minimum depth: 171.301172 meters looking forward 100.000000 meters along route # Maximum depth: 175.427081 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 121.301172 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.846209; longitude = -135.087833; duration = 463; initialDepth = 119.511562; finalDepth = 121.301172; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.125909 # Actual altitude: 54.125909 # Commanded vehicle depth: 121.301172 # Seafloor depth: -175.427081 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 101.225456 meters # Minimum depth: 169.511562 meters looking forward 100.000000 meters along route # Maximum depth: 180.191802 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 119.511562 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.847037; longitude = -135.089742; duration = 404; initialDepth = 119.422604; finalDepth = 119.511562; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.125909 # Actual altitude: 54.125909 # Commanded vehicle depth: 119.511562 # Seafloor depth: -172.072850 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 114.476587 meters # Minimum depth: 169.422604 meters looking forward 100.000000 meters along route # Maximum depth: 182.253152 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 119.422604 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.847760; longitude = -135.091411; duration = 457; initialDepth = 128.142878; finalDepth = 119.422604; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.561288 # Actual altitude: 52.561288 # Commanded vehicle depth: 119.422604 # Seafloor depth: -169.422604 # 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 3 # Segment length 115.206471 meters # Minimum depth: 178.142878 meters looking forward 100.000000 meters along route # Maximum depth: 183.352414 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 128.142878 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.848579; longitude = -135.093298; duration = 460; initialDepth = 133.242751; finalDepth = 128.142878; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.747957 # Actual altitude: 50.747957 # Commanded vehicle depth: 128.142878 # Seafloor depth: -178.890835 # 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 3 # Segment length 115.814610 meters # Minimum depth: 183.242751 meters looking forward 100.000000 meters along route # Maximum depth: 187.838483 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 133.242751 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.849402; longitude = -135.095198; duration = 463; initialDepth = 137.955380; finalDepth = 133.242751; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.747957 # Actual altitude: 50.747957 # Commanded vehicle depth: 133.242751 # Seafloor depth: -183.242751 # 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 3 # Segment length 115.812863 meters # Minimum depth: 187.955380 meters looking forward 100.000000 meters along route # Maximum depth: 195.229555 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 137.955380 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.850230; longitude = -135.097107; duration = 463; initialDepth = 145.523225; finalDepth = 137.955380; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 137.95538 # Seafloor depth: -187.955380 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 115.811116 meters # Minimum depth: 195.523225 meters looking forward 100.000000 meters along route # Maximum depth: 203.259379 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 145.523225 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.851058; longitude = -135.099016; duration = 463; initialDepth = 153.651189; finalDepth = 145.523225; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 145.523225 # Seafloor depth: -195.523225 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 115.809368 meters # Minimum depth: 203.651189 meters looking forward 100.000000 meters along route # Maximum depth: 211.242361 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 153.651189 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.851886; longitude = -135.100926; duration = 463; initialDepth = 161.706892; finalDepth = 153.651189; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 153.651189 # Seafloor depth: -203.651189 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 102.003225 meters # Minimum depth: 211.706892 meters looking forward 100.000000 meters along route # Maximum depth: 217.901340 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 161.706892 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.852714; longitude = -135.102835; duration = 408; initialDepth = 167.651012; finalDepth = 161.706892; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 161.706892 # Seafloor depth: -211.706892 # 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 2 # Segment length 93.050742 meters # Minimum depth: 217.651012 meters looking forward 100.000000 meters along route # Maximum depth: 218.638930 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 167.651012 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.853443; longitude = -135.104517; duration = 372; # abortOnTimeout = True; initialDepth = 168.773240; finalDepth = 167.651012; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 167.651012 # Seafloor depth: -217.651012 # 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 2 # Segment length 101.521507 meters # Minimum depth: 218.773240 meters looking forward 100.000000 meters along route # Maximum depth: 220.439882 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 168.773240 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.852943; longitude = -135.106552; duration = 406; initialDepth = 169.887731; finalDepth = 168.773240; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 168.77324 # Seafloor depth: -218.773240 # 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 2 # Segment length 102.738176 meters # Minimum depth: 219.887731 meters looking forward 100.000000 meters along route # Maximum depth: 220.528551 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 169.887731 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.852397; longitude = -135.108772; duration = 410; initialDepth = 169.170014; finalDepth = 169.887731; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.146462 # Actual altitude: 50.146462 # Commanded vehicle depth: 169.887731 # Seafloor depth: -220.034193 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.310181 meters # Minimum depth: 219.170014 meters looking forward 100.000000 meters along route # Maximum depth: 220.565391 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 169.170014 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.851845; longitude = -135.111018; duration = 401; initialDepth = 168.868609; finalDepth = 169.170014; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.129836 # Actual altitude: 51.129836 # Commanded vehicle depth: 169.170014 # Seafloor depth: -220.299850 # 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 2 # Segment length 101.526851 meters # Minimum depth: 218.868609 meters looking forward 100.000000 meters along route # Maximum depth: 219.603444 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 168.868609 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.851306; longitude = -135.113212; duration = 406; initialDepth = 169.635562; finalDepth = 168.868609; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.129836 # Actual altitude: 51.129836 # Commanded vehicle depth: 168.868609 # Seafloor depth: -219.148527 # 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 2 # Segment length 101.528632 meters # Minimum depth: 219.635562 meters looking forward 100.000000 meters along route # Maximum depth: 220.711520 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 169.635562 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.850761; longitude = -135.115432; duration = 406; initialDepth = 170.774609; finalDepth = 169.635562; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.279918 # Actual altitude: 50.279918 # Commanded vehicle depth: 169.635562 # Seafloor depth: -219.635562 # 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 2 # Segment length 101.530414 meters # Minimum depth: 220.774609 meters looking forward 100.000000 meters along route # Maximum depth: 221.985030 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 170.774609 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.850215; longitude = -135.117652; duration = 406; initialDepth = 171.990921; finalDepth = 170.774609; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 170.774609 # Seafloor depth: -220.774609 # 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 2 # Segment length 101.532195 meters # Minimum depth: 221.990921 meters looking forward 100.000000 meters along route # Maximum depth: 222.300344 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 171.990921 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.849670; longitude = -135.119872; duration = 406; initialDepth = 172.298813; finalDepth = 171.990921; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 171.990921 # Seafloor depth: -221.990921 # 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 2 # Segment length 101.533977 meters # Minimum depth: 222.298813 meters looking forward 100.000000 meters along route # Maximum depth: 223.039576 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 172.298813 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.849124; longitude = -135.122092; duration = 406; initialDepth = 172.889858; finalDepth = 172.298813; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 172.298813 # Seafloor depth: -222.298813 # 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 2 # Segment length 101.535759 meters # Minimum depth: 222.889858 meters looking forward 100.000000 meters along route # Maximum depth: 223.522043 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 172.889858 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.848579; longitude = -135.124312; duration = 406; initialDepth = 173.564499; finalDepth = 172.889858; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 172.889858 # Seafloor depth: -222.889858 # 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 2 # Segment length 101.537540 meters # Minimum depth: 223.564499 meters looking forward 100.000000 meters along route # Maximum depth: 223.898504 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 173.564499 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.848033; longitude = -135.126532; duration = 406; initialDepth = 173.873841; finalDepth = 173.564499; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 173.564499 # Seafloor depth: -223.564499 # 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 2 # Segment length 101.539322 meters # Minimum depth: 223.873841 meters looking forward 100.000000 meters along route # Maximum depth: 224.194758 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 173.873841 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.847487; longitude = -135.128752; duration = 406; initialDepth = 174.144862; finalDepth = 173.873841; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 173.873841 # Seafloor depth: -223.873841 # 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 2 # Segment length 101.541103 meters # Minimum depth: 224.144862 meters looking forward 100.000000 meters along route # Maximum depth: 224.789252 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 174.144862 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.846942; longitude = -135.130972; duration = 406; initialDepth = 174.837158; finalDepth = 174.144862; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 174.144862 # Seafloor depth: -224.144862 # 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 2 # Segment length 101.542886 meters # Minimum depth: 224.837158 meters looking forward 100.000000 meters along route # Maximum depth: 225.096662 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 174.837158 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.846396; longitude = -135.133192; duration = 406; initialDepth = 174.937452; finalDepth = 174.837158; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 174.837158 # Seafloor depth: -224.837158 # 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 2 # Segment length 101.544667 meters # Minimum depth: 224.937452 meters looking forward 100.000000 meters along route # Maximum depth: 225.146273 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 174.937452 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.845851; longitude = -135.135412; duration = 406; initialDepth = 174.881710; finalDepth = 174.937452; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.12597 # Actual altitude: 50.12597 # Commanded vehicle depth: 174.937452 # Seafloor depth: -225.063422 # 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 during line 2 # Segment length 101.546449 meters # Minimum depth: 224.881710 meters looking forward 100.000000 meters along route # Maximum depth: 225.132447 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 174.881710 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.845305; longitude = -135.137632; duration = 406; initialDepth = 174.924342; finalDepth = 174.881710; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.12597 # Actual altitude: 50.12597 # Commanded vehicle depth: 174.88171 # Seafloor depth: -224.899082 # 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 during line 2 # Segment length 101.548230 meters # Minimum depth: 224.924342 meters looking forward 100.000000 meters along route # Maximum depth: 225.224985 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 174.924342 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.844760; longitude = -135.139852; duration = 406; initialDepth = 174.524476; finalDepth = 174.924342; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.277537 # Actual altitude: 50.277537 # Commanded vehicle depth: 174.924342 # Seafloor depth: -225.201879 # 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 2 # Segment length 101.768824 meters # Minimum depth: 224.524476 meters looking forward 100.000000 meters along route # Maximum depth: 224.922351 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 174.524476 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.844214; longitude = -135.142072; duration = 407; initialDepth = 174.525509; finalDepth = 174.524476; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.386554 # Actual altitude: 50.386554 # Commanded vehicle depth: 174.524476 # Seafloor depth: -224.911030 # 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 2 # Segment length 101.332983 meters # Minimum depth: 224.525509 meters looking forward 100.000000 meters along route # Maximum depth: 225.211711 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 174.525509 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.843667; longitude = -135.144297; duration = 405; initialDepth = 175.216601; finalDepth = 174.525509; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.386554 # Actual altitude: 50.386554 # Commanded vehicle depth: 174.525509 # Seafloor depth: -224.525509 # 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 2 # Segment length 101.553577 meters # Minimum depth: 225.216601 meters looking forward 100.000000 meters along route # Maximum depth: 225.362698 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 175.216601 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.843123; longitude = -135.146512; duration = 406; initialDepth = 175.135259; finalDepth = 175.216601; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 175.216601 # Seafloor depth: -225.216601 # 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 2 # Segment length 101.555358 meters # Minimum depth: 225.135259 meters looking forward 100.000000 meters along route # Maximum depth: 225.341907 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 175.135259 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.842578; longitude = -135.148732; duration = 406; initialDepth = 175.187554; finalDepth = 175.135259; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.204242 # Actual altitude: 50.204242 # Commanded vehicle depth: 175.135259 # Seafloor depth: -225.339501 # 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 2 # Segment length 107.333534 meters # Minimum depth: 225.187554 meters looking forward 100.000000 meters along route # Maximum depth: 225.971240 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 175.187554 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.842032; longitude = -135.150952; duration = 429; initialDepth = 175.968934; finalDepth = 175.187554; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.204242 # Actual altitude: 50.204242 # Commanded vehicle depth: 175.187554 # Seafloor depth: -225.187554 # 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 2 # Segment length 112.307481 meters # Minimum depth: 225.968934 meters looking forward 100.000000 meters along route # Maximum depth: 226.141145 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 175.968934 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.841455; longitude = -135.153298; duration = 449; initialDepth = 176.024195; finalDepth = 175.968934; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.010449 # Actual altitude: 50.010449 # Commanded vehicle depth: 175.968934 # Seafloor depth: -225.979383 # 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 2 # Segment length 112.309659 meters # Minimum depth: 226.024195 meters looking forward 100.000000 meters along route # Maximum depth: 226.252246 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 176.024195 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.840852; longitude = -135.155753; duration = 449; initialDepth = 176.365548; finalDepth = 176.024195; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.13547 # Actual altitude: 50.13547 # Commanded vehicle depth: 176.024195 # Seafloor depth: -226.159665 # 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 during line 2 # Segment length 108.142029 meters # Minimum depth: 226.365548 meters looking forward 100.000000 meters along route # Maximum depth: 226.994703 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 176.365548 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.840249; longitude = -135.158208; duration = 432; initialDepth = 168.627591; finalDepth = 176.365548; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.13547 # Actual altitude: 50.13547 # Commanded vehicle depth: 176.365548 # Seafloor depth: -226.365548 # 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; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 149.034380 meters # Minimum depth: 218.627591 meters looking forward 100.000000 meters along route # Maximum depth: 227.240639 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 168.627591 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.839668; longitude = -135.160572; duration = 596; # abortOnTimeout = True; initialDepth = 160.505724; finalDepth = 168.627591; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.613048 # Actual altitude: 58.613048 # Commanded vehicle depth: 168.627591 # Seafloor depth: -227.240639 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 103.188859 meters # Minimum depth: 210.505724 meters looking forward 100.000000 meters along route # Maximum depth: 217.368778 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 160.505724 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.838580; longitude = -135.158208; duration = 412; initialDepth = 151.731234; finalDepth = 160.505724; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.613048 # Actual altitude: 58.613048 # Commanded vehicle depth: 160.505724 # Seafloor depth: -217.368778 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 103.190169 meters # Minimum depth: 201.731234 meters looking forward 100.000000 meters along route # Maximum depth: 209.116657 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 151.731234 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.837827; longitude = -135.156572; duration = 412; initialDepth = 141.391401; finalDepth = 151.731234; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.385423 # Actual altitude: 57.385423 # Commanded vehicle depth: 151.731234 # Seafloor depth: -209.116657 # 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 1 # Segment length 105.596840 meters # Minimum depth: 191.391401 meters looking forward 100.000000 meters along route # Maximum depth: 201.072883 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 141.391401 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.837074; longitude = -135.154935; duration = 422; initialDepth = 134.354194; finalDepth = 141.391401; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.681482 # Actual altitude: 59.681482 # Commanded vehicle depth: 141.391401 # Seafloor depth: -201.072883 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.787430 meters # Minimum depth: 184.354194 meters looking forward 100.000000 meters along route # Maximum depth: 193.026993 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 134.354194 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.836304; longitude = -135.153260; duration = 403; initialDepth = 121.345172; finalDepth = 134.354194; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.681482 # Actual altitude: 59.681482 # Commanded vehicle depth: 134.354194 # Seafloor depth: -191.321547 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 103.194100 meters # Minimum depth: 171.345172 meters looking forward 100.000000 meters along route # Maximum depth: 183.354202 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 121.345172 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.835568; longitude = -135.151662; duration = 412; initialDepth = 123.984064; finalDepth = 121.345172; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.00903 # Actual altitude: 62.00903 # Commanded vehicle depth: 121.345172 # Seafloor depth: -183.354202 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 103.195410 meters # Minimum depth: 173.984064 meters looking forward 100.000000 meters along route # Maximum depth: 177.894782 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 123.984064 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.834815; longitude = -135.150025; duration = 412; initialDepth = 115.121892; finalDepth = 123.984064; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.00903 # Actual altitude: 62.00903 # Commanded vehicle depth: 123.984064 # Seafloor depth: -173.984064 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 104.015699 meters # Minimum depth: 165.121892 meters looking forward 100.000000 meters along route # Maximum depth: 174.330698 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 115.121892 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.834062; longitude = -135.148388; duration = 416; initialDepth = 113.198916; finalDepth = 115.121892; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.208806 # Actual altitude: 59.208806 # Commanded vehicle depth: 115.121892 # Seafloor depth: -174.330698 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.379053 meters # Minimum depth: 163.198916 meters looking forward 100.000000 meters along route # Maximum depth: 168.043963 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 113.198916 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.833303; longitude = -135.146739; duration = 409; initialDepth = 111.542366; finalDepth = 113.198916; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.208806 # Actual altitude: 59.208806 # Commanded vehicle depth: 113.198916 # Seafloor depth: -168.043963 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 103.199342 meters # Minimum depth: 161.542366 meters looking forward 100.000000 meters along route # Maximum depth: 167.344706 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 111.542366 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.832556; longitude = -135.145115; duration = 412; initialDepth = 106.911296; finalDepth = 111.542366; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.845047 # Actual altitude: 54.845047 # Commanded vehicle depth: 111.542366 # Seafloor depth: -165.060172 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 103.200652 meters # Minimum depth: 156.911296 meters looking forward 100.000000 meters along route # Maximum depth: 160.484904 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 106.911296 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.831803; longitude = -135.143478; duration = 412; initialDepth = 97.260839; finalDepth = 106.911296; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.573608 # Actual altitude: 53.573608 # Commanded vehicle depth: 106.911296 # Seafloor depth: -160.484904 # 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 1 # Segment length 103.201962 meters # Minimum depth: 147.260839 meters looking forward 100.000000 meters along route # Maximum depth: 162.406359 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 97.260839 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.831050; longitude = -135.141842; duration = 412; initialDepth = 89.062241; finalDepth = 97.260839; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.377712 # Actual altitude: 60.377712 # Commanded vehicle depth: 97.260839 # Seafloor depth: -157.638551 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 103.203274 meters # Minimum depth: 139.062241 meters looking forward 100.000000 meters along route # Maximum depth: 147.172326 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 89.062241 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.830297; longitude = -135.140205; duration = 412; initialDepth = 95.262749; finalDepth = 89.062241; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.377712 # Actual altitude: 60.377712 # Commanded vehicle depth: 89.062241 # Seafloor depth: -147.172326 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 103.204583 meters # Minimum depth: 145.262749 meters looking forward 100.000000 meters along route # Maximum depth: 160.371951 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 95.262749 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.829544; longitude = -135.138569; duration = 412; initialDepth = 93.838910; finalDepth = 95.262749; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.845818 # Actual altitude: 58.845818 # Commanded vehicle depth: 95.262749 # Seafloor depth: -154.108567 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 103.205894 meters # Minimum depth: 143.838910 meters looking forward 100.000000 meters along route # Maximum depth: 146.860396 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 93.838910 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.828791; longitude = -135.136932; duration = 412; initialDepth = 93.112096; finalDepth = 93.838910; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.845818 # Actual altitude: 58.845818 # Commanded vehicle depth: 93.83891 # Seafloor depth: -146.479736 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 103.207205 meters # Minimum depth: 143.112096 meters looking forward 100.000000 meters along route # Maximum depth: 151.656994 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 93.112096 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.828038; longitude = -135.135295; duration = 412; initialDepth = 101.997447; finalDepth = 93.112096; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.640826 # Actual altitude: 52.640826 # Commanded vehicle depth: 93.112096 # Seafloor depth: -144.106740 # 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 1 # Segment length 103.208516 meters # Minimum depth: 151.997447 meters looking forward 100.000000 meters along route # Maximum depth: 155.876545 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 101.997447 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.827285; longitude = -135.133659; duration = 412; initialDepth = 90.463560; finalDepth = 101.997447; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.994644 # Actual altitude: 50.994644 # Commanded vehicle depth: 101.997447 # Seafloor depth: -151.997447 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 103.209826 meters # Minimum depth: 140.463560 meters looking forward 100.000000 meters along route # Maximum depth: 149.211889 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 90.463560 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.826532; longitude = -135.132022; duration = 412; initialDepth = 82.359143; finalDepth = 90.463560; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.976344 # Actual altitude: 56.976344 # Commanded vehicle depth: 90.46356 # Seafloor depth: -147.439904 # 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 1 # Segment length 103.211137 meters # Minimum depth: 132.359143 meters looking forward 100.000000 meters along route # Maximum depth: 145.669515 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 82.359143 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.825779; longitude = -135.130385; duration = 412; initialDepth = 83.325664; finalDepth = 82.359143; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.976344 # Actual altitude: 56.976344 # Commanded vehicle depth: 82.359143 # Seafloor depth: -136.932503 # 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 1 # Segment length 103.212448 meters # Minimum depth: 133.325664 meters looking forward 100.000000 meters along route # Maximum depth: 146.125221 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 83.325664 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.825026; longitude = -135.128749; duration = 412; initialDepth = 81.061501; finalDepth = 83.325664; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.799557 # Actual altitude: 62.799557 # Commanded vehicle depth: 83.325664 # Seafloor depth: -146.125221 # 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 1 # Segment length 103.213759 meters # Minimum depth: 131.061501 meters looking forward 100.000000 meters along route # Maximum depth: 135.466548 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 81.061501 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.824273; longitude = -135.127112; duration = 412; initialDepth = 72.939782; finalDepth = 81.061501; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.799557 # Actual altitude: 62.799557 # Commanded vehicle depth: 81.061501 # Seafloor depth: -135.466548 # 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 1 # Segment length 103.215069 meters # Minimum depth: 122.939782 meters looking forward 100.000000 meters along route # Maximum depth: 129.635146 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 72.939782 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.823520; longitude = -135.125475; duration = 412; initialDepth = 77.066678; finalDepth = 72.939782; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.405047 # Actual altitude: 54.405047 # Commanded vehicle depth: 72.939782 # Seafloor depth: -124.606521 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 103.216381 meters # Minimum depth: 127.066678 meters looking forward 100.000000 meters along route # Maximum depth: 129.430517 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 77.066678 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.822767; longitude = -135.123839; duration = 412; initialDepth = 77.055263; finalDepth = 77.066678; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.688446 # Actual altitude: 51.688446 # Commanded vehicle depth: 77.066678 # Seafloor depth: -128.755124 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 103.217691 meters # Minimum depth: 127.055263 meters looking forward 100.000000 meters along route # Maximum depth: 129.019410 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 77.055263 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.822014; longitude = -135.122202; duration = 412; initialDepth = 76.343626; finalDepth = 77.055263; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.688446 # Actual altitude: 51.688446 # Commanded vehicle depth: 77.055263 # Seafloor depth: -128.685017 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 103.219003 meters # Minimum depth: 126.343626 meters looking forward 100.000000 meters along route # Maximum depth: 129.322603 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 76.343626 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.821261; longitude = -135.120565; duration = 412; initialDepth = 75.808108; finalDepth = 76.343626; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.693518 # Actual altitude: 52.693518 # Commanded vehicle depth: 76.343626 # Seafloor depth: -129.037144 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 103.220313 meters # Minimum depth: 125.808108 meters looking forward 100.000000 meters along route # Maximum depth: 126.311253 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 75.808108 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.820508; longitude = -135.118929; duration = 412; initialDepth = 74.273064; finalDepth = 75.808108; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.693518 # Actual altitude: 52.693518 # Commanded vehicle depth: 75.808108 # Seafloor depth: -125.860550 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 103.221624 meters # Minimum depth: 124.273064 meters looking forward 100.000000 meters along route # Maximum depth: 126.823927 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 74.273064 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.819755; longitude = -135.117292; duration = 412; initialDepth = 74.091044; finalDepth = 74.273064; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.847381 # Actual altitude: 50.847381 # Commanded vehicle depth: 74.273064 # Seafloor depth: -125.120445 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 103.222936 meters # Minimum depth: 124.091044 meters looking forward 100.000000 meters along route # Maximum depth: 128.406992 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 74.091044 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.819002; longitude = -135.115656; duration = 412; initialDepth = 69.979916; finalDepth = 74.091044; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.466973 # Actual altitude: 53.466973 # Commanded vehicle depth: 74.091044 # Seafloor depth: -127.558017 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 105.060090 meters # Minimum depth: 119.979916 meters looking forward 100.000000 meters along route # Maximum depth: 124.017843 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 69.979916 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.818249; longitude = -135.114019; duration = 420; initialDepth = 66.665839; finalDepth = 69.979916; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.037927 # Actual altitude: 54.037927 # Commanded vehicle depth: 69.979916 # Seafloor depth: -124.017843 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.389714 meters # Minimum depth: 116.665839 meters looking forward 100.000000 meters along route # Maximum depth: 120.379902 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.665839 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.817482; longitude = -135.112353; duration = 405; initialDepth = 65.996710; finalDepth = 66.665839; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.037927 # Actual altitude: 54.037927 # Commanded vehicle depth: 66.665839 # Seafloor depth: -120.062718 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 103.226869 meters # Minimum depth: 115.996710 meters looking forward 100.000000 meters along route # Maximum depth: 116.497626 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.996710 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.816743; longitude = -135.110746; duration = 412; initialDepth = 63.301560; finalDepth = 65.996710; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.396879 # Actual altitude: 53.396879 # Commanded vehicle depth: 65.99671 # Seafloor depth: -116.285892 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 103.880318 meters # Minimum depth: 113.301560 meters looking forward 100.000000 meters along route # Maximum depth: 115.858512 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.301560 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.815990; longitude = -135.109109; duration = 415; initialDepth = 62.894661; finalDepth = 63.301560; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.556952 # Actual altitude: 52.556952 # Commanded vehicle depth: 63.30156 # Seafloor depth: -115.858512 # 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; } # ####################################################### # # 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: 52.556952 # Sonar parameter altitude: 52.556952 # Commanded vehicle depth: 62.894661 # Seafloor depth: -112.894661 # 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 = 31; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000033; MB_Bottom_Detect_Filter_Min_Range = 31.53; 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: 112.894661 meters looking forward 100.000000 meters along route # Maximum depth: 115.203113 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 201.365548 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.894661 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint { latitude = 70.815232; longitude = -135.107462; duration = 600; depth = 62.894661; 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 = 180.0; pitch = -35.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 180.0; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 300.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 31; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000033; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### ####################################################### ####################################################### #######################################################