# 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: MudVolcano740mRepeatM1V2.rte # Mission File: MudVolcano740mRepeatM1V2.cfg # Distance: 84778.960840 (m) # Estimated Time: 58174 (s) 16.160 (hr) # Abort Time: 65442 (s) # Max battery life: 68400 (s) # Safety margin: 1800 (s) # Ascend time: 1157 (s) # Way Points: 44 # Route Points: 717 # Survey Behaviors: # Behavior for waypoint mode 0: WaypointDepth # Behavior for waypoint mode 1: WaypointDepth # Behavior for waypoint mode 2: WaypointDepth # Behavior for waypoint mode 3: WaypointDepth # Behavior for waypoint mode 4: WaypointDepth # Descent style: Spiral descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 33 dB # Multibeam transmit gain: 218 dB # Multibeam pulse width: 3.3e-05 usec # Multibeam minimum range fraction: 0.6 # Multibeam maximum range fraction: 5.0 # Subbottom enabled # Low sidescan enabled # High sidescan disabled # Benthic imaging camera control disabled: # # Mission Parameters: # Vehicle Survey Speed: 1.500000 (m/s) 2.915769 (knots) # Vehicle Ascent Speed: 1.500000 (m/s) 2.915769 (knots) # Vehicle Transit Speed: 1.500000 (m/s) 2.915769 (knots) # Minimum Vehicle Altitude 1: 50 (m) # Abort Vehicle Altitude 1: 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: 766.420157 (m) # Abort Vehicle Depth: 791.420157 (m) # Descent Vehicle Depth: 3 (m) # Spiral descent depth: 701.445267 m # Spiral descent altitude: 30 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 -136.117530 70.784512 -741.445267 0.000000 3 # 1 -136.037419 70.786052 -732.038361 2947.672344 3 # 2 -136.038643 70.795675 -743.502045 4021.858883 3 # 3 -136.123060 70.794237 -768.172119 7125.336723 3 # 4 -136.123240 70.800990 -776.535522 7878.525313 3 # 5 -136.040001 70.802294 -757.394180 10937.025238 3 # 6 -136.041752 70.813630 -765.247192 12202.977997 3 # 7 -136.121352 70.812553 -787.253937 15125.269639 3 # 8 -136.115767 70.815325 -790.235382 15496.141371 3 # 9 -136.110234 70.782146 -738.393082 19202.151629 3 # 10 -136.106157 70.782220 -738.585098 19352.159064 3 # 11 -136.111683 70.815399 -789.894135 23058.154683 3 # 12 -136.107599 70.815473 -789.871933 23208.169624 3 # 13 -136.102080 70.782293 -737.394836 26914.261988 3 # 14 -136.098003 70.782367 -736.195297 27064.268278 3 # 15 -136.103516 70.815546 -791.273056 30770.236685 3 # 16 -136.099432 70.815620 -791.984299 30920.250479 3 # 17 -136.093926 70.782440 -735.464554 34626.315668 3 # 18 -136.089849 70.782513 -734.775375 34776.314723 3 # 19 -136.095348 70.815693 -791.455505 38482.365351 3 # 20 -136.091264 70.815766 -790.394073 38632.371908 3 # 21 -136.085772 70.782587 -735.687790 42338.296632 3 # 22 -136.081695 70.782660 -735.600983 42488.294543 3 # 23 -136.087181 70.815839 -789.494308 46194.206740 3 # 24 -136.083097 70.815912 -788.590256 46344.212158 3 # 25 -136.077618 70.782733 -735.988052 50050.109852 3 # 26 -136.073541 70.782805 -735.918594 50200.100618 3 # 27 -136.079013 70.815985 -786.551163 53906.095194 3 # 28 -136.074929 70.816058 -783.911682 54056.099474 3 # 29 -136.069464 70.782878 -734.387238 57762.079587 3 # 30 -136.065387 70.782951 -732.305847 57912.075233 3 # 31 -136.070845 70.816131 -783.032425 61618.040904 3 # 32 -136.066761 70.816204 -779.936523 61768.044046 3 # 33 -136.061309 70.783023 -731.739349 65474.108641 3 # 34 -136.057232 70.783096 -732.870911 65624.103160 3 # 35 -136.062677 70.816277 -777.659607 69330.153350 3 # 36 -136.058593 70.816349 -775.275970 69480.149346 3 # 37 -136.053155 70.783168 -733.323044 73186.185152 3 # 38 -136.049052 70.783158 -732.081528 73336.927037 3 # 39 -136.054492 70.816419 -776.361160 77051.949927 3 # 40 -136.050563 70.816472 -773.583603 77196.144449 3 # 41 -136.045052 70.783257 -733.331863 80906.090659 3 # 42 -136.040740 70.783307 -731.512985 81064.598353 3 # 43 -136.046636 70.816554 -774.152603 84778.960840 4 # # A total of 717 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 54900; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 766.420157; abortDepth = 791.420157; 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 = 1157; 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 43 # Segment length 79.133285 meters # Minimum depth: 771.600200 meters looking forward 100.000000 meters along route # Maximum depth: 774.152603 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.600200 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.816554; longitude = -136.046636; duration = 316; # abortOnTimeout = True; initialDepth = 714.513686; finalDepth = 721.600200; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.552403 # Actual altitude: 52.552403 # Commanded vehicle depth: 721.6002 # Seafloor depth: -774.152603 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 121.895926 meters # Minimum depth: 764.513686 meters looking forward 100.000000 meters along route # Maximum depth: 770.509599 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.513686 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.815846; longitude = -136.046511; duration = 487; initialDepth = 712.640624; finalDepth = 714.513686; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.995913 # Actual altitude: 55.995913 # Commanded vehicle depth: 714.513686 # Seafloor depth: -770.509599 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 121.895933 meters # Minimum depth: 762.640624 meters looking forward 100.000000 meters along route # Maximum depth: 764.015903 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.640624 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.814755; longitude = -136.046317; duration = 487; initialDepth = 712.664894; finalDepth = 712.640624; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.995913 # Actual altitude: 55.995913 # Commanded vehicle depth: 712.640624 # Seafloor depth: -764.015903 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 121.895941 meters # Minimum depth: 762.664894 meters looking forward 100.000000 meters along route # Maximum depth: 763.899809 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.664894 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.813664; longitude = -136.046124; duration = 487; initialDepth = 713.355615; finalDepth = 712.664894; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.375279 # Actual altitude: 51.375279 # Commanded vehicle depth: 712.664894 # Seafloor depth: -762.664894 # 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 43 # Segment length 121.895948 meters # Minimum depth: 763.355615 meters looking forward 100.000000 meters along route # Maximum depth: 763.793412 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.355615 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.812573; longitude = -136.045930; duration = 487; initialDepth = 711.226497; finalDepth = 713.355615; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.437797 # Actual altitude: 50.437797 # Commanded vehicle depth: 713.355615 # Seafloor depth: -763.793412 # 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 43 # Segment length 124.005019 meters # Minimum depth: 761.226497 meters looking forward 100.000000 meters along route # Maximum depth: 762.798520 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.226497 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.811481; longitude = -136.045737; duration = 496; initialDepth = 711.150011; finalDepth = 711.226497; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5720230000001 # Actual altitude: 51.5720230000001 # Commanded vehicle depth: 711.226497 # Seafloor depth: -762.798520 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 119.786900 meters # Minimum depth: 761.150011 meters looking forward 100.000000 meters along route # Maximum depth: 761.354995 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.150011 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.810371; longitude = -136.045540; duration = 479; initialDepth = 710.682484; finalDepth = 711.150011; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5720230000001 # Actual altitude: 51.5720230000001 # Commanded vehicle depth: 711.150011 # Seafloor depth: -761.221220 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 121.895970 meters # Minimum depth: 760.682484 meters looking forward 100.000000 meters along route # Maximum depth: 761.199830 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.682484 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.809299; longitude = -136.045350; duration = 487; initialDepth = 709.597651; finalDepth = 710.682484; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.517346 # Actual altitude: 50.517346 # Commanded vehicle depth: 710.682484 # Seafloor depth: -761.199830 # 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 43 # Segment length 101.983084 meters # Minimum depth: 759.597651 meters looking forward 100.000000 meters along route # Maximum depth: 760.293482 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.597651 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.808208; longitude = -136.045156; duration = 407; initialDepth = 709.133695; finalDepth = 709.597651; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.695831 # Actual altitude: 50.695831 # Commanded vehicle depth: 709.597651 # Seafloor depth: -760.293482 # 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 43 # Segment length 111.334883 meters # Minimum depth: 759.133695 meters looking forward 100.000000 meters along route # Maximum depth: 759.572537 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.133695 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.807295; longitude = -136.044994; duration = 445; initialDepth = 708.094015; finalDepth = 709.133695; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.695831 # Actual altitude: 50.695831 # Commanded vehicle depth: 709.133695 # Seafloor depth: -759.572537 # 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 43 # Segment length 121.895992 meters # Minimum depth: 758.094015 meters looking forward 100.000000 meters along route # Maximum depth: 758.909583 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 708.094015 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.806299; longitude = -136.044818; duration = 487; initialDepth = 708.397676; finalDepth = 708.094015; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.815568 # Actual altitude: 50.815568 # Commanded vehicle depth: 708.094015 # Seafloor depth: -758.909583 # 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 43 # Segment length 110.435140 meters # Minimum depth: 758.397676 meters looking forward 100.000000 meters along route # Maximum depth: 758.977715 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 708.397676 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.805208; longitude = -136.044624; duration = 441; initialDepth = 709.971344; finalDepth = 708.397676; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.815568 # Actual altitude: 50.815568 # Commanded vehicle depth: 708.397676 # Seafloor depth: -758.397676 # 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 43 # Segment length 102.882863 meters # Minimum depth: 759.971344 meters looking forward 100.000000 meters along route # Maximum depth: 761.433688 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.971344 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.804219; longitude = -136.044449; duration = 411; initialDepth = 710.879883; finalDepth = 709.971344; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 709.971344 # Seafloor depth: -759.971344 # 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 43 # Segment length 121.896012 meters # Minimum depth: 760.879883 meters looking forward 100.000000 meters along route # Maximum depth: 761.230594 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.879883 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.803298; longitude = -136.044286; duration = 487; initialDepth = 710.463935; finalDepth = 710.879883; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.350711 # Actual altitude: 50.350711 # Commanded vehicle depth: 710.879883 # Seafloor depth: -761.230594 # 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 43 # Segment length 121.896020 meters # Minimum depth: 760.463935 meters looking forward 100.000000 meters along route # Maximum depth: 764.858540 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.463935 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.802207; longitude = -136.044092; duration = 487; initialDepth = 711.714809; finalDepth = 710.463935; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.350711 # Actual altitude: 50.350711 # Commanded vehicle depth: 710.463935 # Seafloor depth: -760.694407 # 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 43 # Segment length 121.896027 meters # Minimum depth: 761.714809 meters looking forward 100.000000 meters along route # Maximum depth: 762.893585 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.714809 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.801116; longitude = -136.043899; duration = 487; initialDepth = 711.201370; finalDepth = 711.714809; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1787760000001 # Actual altitude: 51.1787760000001 # Commanded vehicle depth: 711.714809 # Seafloor depth: -762.893585 # 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 43 # Segment length 121.896035 meters # Minimum depth: 761.201370 meters looking forward 100.000000 meters along route # Maximum depth: 761.805892 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.201370 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.800025; longitude = -136.043705; duration = 487; initialDepth = 710.421776; finalDepth = 711.201370; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1787760000001 # Actual altitude: 51.1787760000001 # Commanded vehicle depth: 711.20137 # Seafloor depth: -761.776246 # 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 43 # Segment length 121.896042 meters # Minimum depth: 760.421776 meters looking forward 100.000000 meters along route # Maximum depth: 763.948016 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.421776 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.798934; longitude = -136.043512; duration = 487; initialDepth = 699.130462; finalDepth = 710.421776; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.865686 # Actual altitude: 51.865686 # Commanded vehicle depth: 710.421776 # Seafloor depth: -762.287462 # 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 43 # Segment length 121.896050 meters # Minimum depth: 749.130462 meters looking forward 100.000000 meters along route # Maximum depth: 759.484858 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.130462 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.797843; longitude = -136.043318; duration = 487; initialDepth = 696.770435; finalDepth = 699.130462; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.3543960000001 # Actual altitude: 60.3543960000001 # Commanded vehicle depth: 699.130462 # Seafloor depth: -759.484858 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 121.896057 meters # Minimum depth: 746.770435 meters looking forward 100.000000 meters along route # Maximum depth: 748.491212 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 696.770435 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.796752; longitude = -136.043125; duration = 487; initialDepth = 696.028580; finalDepth = 696.770435; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.3543960000001 # Actual altitude: 60.3543960000001 # Commanded vehicle depth: 696.770435 # Seafloor depth: -748.491212 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 121.896065 meters # Minimum depth: 746.028580 meters looking forward 100.000000 meters along route # Maximum depth: 747.683187 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 696.028580 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795661; longitude = -136.042931; duration = 487; initialDepth = 695.396417; finalDepth = 696.028580; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.720777 # Actual altitude: 51.720777 # Commanded vehicle depth: 696.02858 # Seafloor depth: -746.395214 # 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 43 # Segment length 124.780350 meters # Minimum depth: 745.396417 meters looking forward 100.000000 meters along route # Maximum depth: 746.499387 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.396417 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794569; longitude = -136.042737; duration = 499; initialDepth = 694.285487; finalDepth = 695.396417; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1029699999999 # Actual altitude: 51.1029699999999 # Commanded vehicle depth: 695.396417 # Seafloor depth: -746.499387 # 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 43 # Segment length 119.011802 meters # Minimum depth: 744.285487 meters looking forward 100.000000 meters along route # Maximum depth: 745.354642 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.285487 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.793453; longitude = -136.042539; duration = 476; initialDepth = 692.324917; finalDepth = 694.285487; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1029699999999 # Actual altitude: 51.1029699999999 # Commanded vehicle depth: 694.285487 # Seafloor depth: -745.354642 # 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 43 # Segment length 121.896087 meters # Minimum depth: 742.324917 meters looking forward 100.000000 meters along route # Maximum depth: 744.165471 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.324917 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.792387; longitude = -136.042350; duration = 487; initialDepth = 691.365503; finalDepth = 692.324917; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.564472 # Actual altitude: 51.564472 # Commanded vehicle depth: 692.324917 # Seafloor depth: -743.889389 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 102.758394 meters # Minimum depth: 741.365503 meters looking forward 100.000000 meters along route # Maximum depth: 742.645786 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.365503 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.791296; longitude = -136.042157; duration = 411; initialDepth = 690.786324; finalDepth = 691.365503; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.564472 # Actual altitude: 51.564472 # Commanded vehicle depth: 691.365503 # Seafloor depth: -742.645786 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 110.559777 meters # Minimum depth: 740.786324 meters looking forward 100.000000 meters along route # Maximum depth: 741.357351 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.786324 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.790376; longitude = -136.041994; duration = 442; initialDepth = 689.406727; finalDepth = 690.786324; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2802830000001 # Actual altitude: 51.2802830000001 # Commanded vehicle depth: 690.786324 # Seafloor depth: -741.318668 # 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 43 # Segment length 121.896109 meters # Minimum depth: 739.406727 meters looking forward 100.000000 meters along route # Maximum depth: 740.394017 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.406727 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.789387; longitude = -136.041818; duration = 487; initialDepth = 684.287869; finalDepth = 689.406727; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9872899999999 # Actual altitude: 50.9872899999999 # Commanded vehicle depth: 689.406727 # Seafloor depth: -740.394017 # 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 43 # Segment length 111.210457 meters # Minimum depth: 734.287869 meters looking forward 100.000000 meters along route # Maximum depth: 738.016890 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 684.287869 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.788296; longitude = -136.041625; duration = 444; initialDepth = 683.782562; finalDepth = 684.287869; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.729021 # Actual altitude: 53.729021 # Commanded vehicle depth: 684.287869 # Seafloor depth: -738.016890 # 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 43 # Segment length 102.107750 meters # Minimum depth: 733.782562 meters looking forward 100.000000 meters along route # Maximum depth: 734.090657 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 683.782562 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.787300; longitude = -136.041448; duration = 408; initialDepth = 682.693449; finalDepth = 683.782562; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.729021 # Actual altitude: 53.729021 # Commanded vehicle depth: 683.782562 # Seafloor depth: -734.090657 # 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 43 # Segment length 121.896129 meters # Minimum depth: 732.693449 meters looking forward 100.000000 meters along route # Maximum depth: 734.113409 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 682.693449 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.786386; longitude = -136.041286; duration = 487; initialDepth = 683.178631; finalDepth = 682.693449; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4199600000001 # Actual altitude: 51.4199600000001 # Commanded vehicle depth: 682.693449 # Seafloor depth: -734.113409 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 121.896136 meters # Minimum depth: 733.178631 meters looking forward 100.000000 meters along route # Maximum depth: 734.504170 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 683.178631 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785295; longitude = -136.041093; duration = 487; initialDepth = 681.631896; finalDepth = 683.178631; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4199600000001 # Actual altitude: 51.4199600000001 # Commanded vehicle depth: 683.178631 # Seafloor depth: -733.667990 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 100.244304 meters # Minimum depth: 731.631896 meters looking forward 100.000000 meters along route # Maximum depth: 733.158684 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 681.631896 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.784204; longitude = -136.040899; duration = 400; initialDepth = 681.512985; finalDepth = 681.631896; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.526788 # Actual altitude: 51.526788 # Commanded vehicle depth: 681.631896 # Seafloor depth: -733.158684 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 42 # Segment length 158.507694 meters # Minimum depth: 731.512985 meters looking forward 100.000000 meters along route # Maximum depth: 733.241684 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 681.512985 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.783307; longitude = -136.040740; duration = 634; # abortOnTimeout = True; initialDepth = 683.331863; finalDepth = 681.512985; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.526788 # Actual altitude: 51.526788 # Commanded vehicle depth: 681.512985 # Seafloor depth: -731.512985 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 41 # Segment length 105.801793 meters # Minimum depth: 733.331863 meters looking forward 100.000000 meters along route # Maximum depth: 734.535566 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 683.331863 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.783257; longitude = -136.045052; duration = 423; # abortOnTimeout = True; initialDepth = 685.090443; finalDepth = 683.331863; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 683.331863 # Seafloor depth: -733.331863 # 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 41 # Segment length 121.870311 meters # Minimum depth: 735.090443 meters looking forward 100.000000 meters along route # Maximum depth: 736.453210 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.090443 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.784204; longitude = -136.045209; duration = 487; initialDepth = 684.791541; finalDepth = 685.090443; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 685.090443 # Seafloor depth: -735.090443 # 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 41 # Segment length 121.870307 meters # Minimum depth: 734.791541 meters looking forward 100.000000 meters along route # Maximum depth: 735.629726 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 684.791541 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785295; longitude = -136.045390; duration = 487; initialDepth = 685.926622; finalDepth = 684.791541; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 684.791541 # Seafloor depth: -734.791541 # 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 41 # Segment length 121.870302 meters # Minimum depth: 735.926622 meters looking forward 100.000000 meters along route # Maximum depth: 737.223044 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.926622 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.786386; longitude = -136.045571; duration = 487; initialDepth = 689.652835; finalDepth = 685.926622; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 685.926622 # Seafloor depth: -735.926622 # 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 41 # Segment length 121.870297 meters # Minimum depth: 739.652835 meters looking forward 100.000000 meters along route # Maximum depth: 741.078543 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.652835 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.787477; longitude = -136.045753; duration = 487; initialDepth = 691.179511; finalDepth = 689.652835; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 689.652835 # Seafloor depth: -739.652835 # 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 41 # Segment length 121.870293 meters # Minimum depth: 741.179511 meters looking forward 100.000000 meters along route # Maximum depth: 742.464562 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.179511 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.788568; longitude = -136.045934; duration = 487; initialDepth = 692.489243; finalDepth = 691.179511; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 691.179511 # Seafloor depth: -741.179511 # 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 41 # Segment length 121.870288 meters # Minimum depth: 742.489243 meters looking forward 100.000000 meters along route # Maximum depth: 743.797828 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.489243 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.789660; longitude = -136.046115; duration = 487; initialDepth = 694.258624; finalDepth = 692.489243; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 692.489243 # Seafloor depth: -742.489243 # 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 41 # Segment length 121.870283 meters # Minimum depth: 744.258624 meters looking forward 100.000000 meters along route # Maximum depth: 746.521235 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.258624 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.790751; longitude = -136.046296; duration = 487; initialDepth = 696.730817; finalDepth = 694.258624; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 694.258624 # Seafloor depth: -744.258624 # 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 41 # Segment length 121.870278 meters # Minimum depth: 746.730817 meters looking forward 100.000000 meters along route # Maximum depth: 748.481064 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 696.730817 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.791842; longitude = -136.046477; duration = 487; initialDepth = 698.119430; finalDepth = 696.730817; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 696.730817 # Seafloor depth: -746.730817 # 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 41 # Segment length 121.870273 meters # Minimum depth: 748.119430 meters looking forward 100.000000 meters along route # Maximum depth: 750.154068 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.119430 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.792933; longitude = -136.046658; duration = 487; initialDepth = 700.392104; finalDepth = 698.119430; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 698.11943 # Seafloor depth: -748.119430 # 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 41 # Segment length 121.870269 meters # Minimum depth: 750.392104 meters looking forward 100.000000 meters along route # Maximum depth: 751.424450 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.392104 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794024; longitude = -136.046839; duration = 487; initialDepth = 700.285774; finalDepth = 700.392104; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 700.392104 # Seafloor depth: -750.392104 # 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 41 # Segment length 121.870264 meters # Minimum depth: 750.285774 meters looking forward 100.000000 meters along route # Maximum depth: 753.894708 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.285774 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795115; longitude = -136.047020; duration = 487; initialDepth = 705.224338; finalDepth = 700.285774; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 700.285774 # Seafloor depth: -750.285774 # 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 41 # Segment length 121.870259 meters # Minimum depth: 755.224338 meters looking forward 100.000000 meters along route # Maximum depth: 763.129114 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 705.224338 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.796206; longitude = -136.047201; duration = 487; initialDepth = 713.933279; finalDepth = 705.224338; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 705.224338 # Seafloor depth: -755.224338 # 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 41 # Segment length 121.870254 meters # Minimum depth: 763.933279 meters looking forward 100.000000 meters along route # Maximum depth: 770.111843 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.933279 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.797297; longitude = -136.047382; duration = 487; initialDepth = 721.187397; finalDepth = 713.933279; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 713.933279 # Seafloor depth: -763.933279 # 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 41 # Segment length 121.870250 meters # Minimum depth: 771.187397 meters looking forward 100.000000 meters along route # Maximum depth: 772.884383 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.187397 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.798388; longitude = -136.047563; duration = 487; initialDepth = 722.393021; finalDepth = 721.187397; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 721.187397 # Seafloor depth: -771.187397 # 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 41 # Segment length 121.870245 meters # Minimum depth: 772.393021 meters looking forward 100.000000 meters along route # Maximum depth: 773.622173 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 722.393021 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.799479; longitude = -136.047744; duration = 487; initialDepth = 722.102211; finalDepth = 722.393021; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.603202 # Actual altitude: 50.603202 # Commanded vehicle depth: 722.393021 # Seafloor depth: -772.996223 # 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 41 # Segment length 121.870240 meters # Minimum depth: 772.102211 meters looking forward 100.000000 meters along route # Maximum depth: 773.492604 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 722.102211 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.800570; longitude = -136.047925; duration = 487; initialDepth = 718.544275; finalDepth = 722.102211; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.266193 # Actual altitude: 51.266193 # Commanded vehicle depth: 722.102211 # Seafloor depth: -773.368404 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 121.870235 meters # Minimum depth: 768.544275 meters looking forward 100.000000 meters along route # Maximum depth: 769.496224 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.544275 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.801662; longitude = -136.048106; duration = 487; initialDepth = 718.177524; finalDepth = 718.544275; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.266193 # Actual altitude: 51.266193 # Commanded vehicle depth: 718.544275 # Seafloor depth: -769.496224 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 121.870231 meters # Minimum depth: 768.177524 meters looking forward 100.000000 meters along route # Maximum depth: 768.509239 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.177524 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.802753; longitude = -136.048287; duration = 487; initialDepth = 714.453362; finalDepth = 718.177524; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.951949 # Actual altitude: 50.951949 # Commanded vehicle depth: 718.177524 # Seafloor depth: -768.509239 # 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 41 # Segment length 121.870226 meters # Minimum depth: 764.453362 meters looking forward 100.000000 meters along route # Maximum depth: 767.902031 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.453362 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.803844; longitude = -136.048468; duration = 487; initialDepth = 713.588387; finalDepth = 714.453362; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.448669 # Actual altitude: 53.448669 # Commanded vehicle depth: 714.453362 # Seafloor depth: -767.902031 # 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 41 # Segment length 121.870221 meters # Minimum depth: 763.588387 meters looking forward 100.000000 meters along route # Maximum depth: 764.100439 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.588387 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.804935; longitude = -136.048649; duration = 487; initialDepth = 712.393672; finalDepth = 713.588387; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.448669 # Actual altitude: 53.448669 # Commanded vehicle depth: 713.588387 # Seafloor depth: -764.100439 # 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 41 # Segment length 121.870216 meters # Minimum depth: 762.393672 meters looking forward 100.000000 meters along route # Maximum depth: 764.214756 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.393672 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.806026; longitude = -136.048830; duration = 487; initialDepth = 712.586038; finalDepth = 712.393672; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.59542 # Actual altitude: 51.59542 # Commanded vehicle depth: 712.393672 # Seafloor depth: -763.989092 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 121.870212 meters # Minimum depth: 762.586038 meters looking forward 100.000000 meters along route # Maximum depth: 763.290781 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.586038 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.807117; longitude = -136.049011; duration = 487; initialDepth = 713.544864; finalDepth = 712.586038; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.59542 # Actual altitude: 51.59542 # Commanded vehicle depth: 712.586038 # Seafloor depth: -762.586038 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 112.112886 meters # Minimum depth: 763.544864 meters looking forward 100.000000 meters along route # Maximum depth: 764.852353 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.544864 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.808208; longitude = -136.049192; duration = 448; initialDepth = 713.850192; finalDepth = 713.544864; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.307489 # Actual altitude: 51.307489 # Commanded vehicle depth: 713.544864 # Seafloor depth: -764.852353 # 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 41 # Segment length 101.159973 meters # Minimum depth: 763.850192 meters looking forward 100.000000 meters along route # Maximum depth: 764.731487 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.850192 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.809212; longitude = -136.049359; duration = 404; initialDepth = 714.577439; finalDepth = 713.850192; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.307489 # Actual altitude: 51.307489 # Commanded vehicle depth: 713.850192 # Seafloor depth: -763.850192 # 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 41 # Segment length 121.870198 meters # Minimum depth: 764.577439 meters looking forward 100.000000 meters along route # Maximum depth: 765.707625 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.577439 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.810118; longitude = -136.049509; duration = 487; initialDepth = 716.577310; finalDepth = 714.577439; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 714.577439 # Seafloor depth: -764.577439 # 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 41 # Segment length 121.870194 meters # Minimum depth: 766.577310 meters looking forward 100.000000 meters along route # Maximum depth: 768.401281 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.577310 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.811209; longitude = -136.049690; duration = 487; initialDepth = 716.983324; finalDepth = 716.577310; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 716.57731 # Seafloor depth: -766.577310 # 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 41 # Segment length 121.870189 meters # Minimum depth: 766.983324 meters looking forward 100.000000 meters along route # Maximum depth: 768.218930 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.983324 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.812300; longitude = -136.049871; duration = 487; initialDepth = 718.322189; finalDepth = 716.983324; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 716.983324 # Seafloor depth: -766.983324 # 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 41 # Segment length 121.870184 meters # Minimum depth: 768.322189 meters looking forward 100.000000 meters along route # Maximum depth: 768.936140 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.322189 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.813391; longitude = -136.050052; duration = 487; initialDepth = 719.387339; finalDepth = 718.322189; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 718.322189 # Seafloor depth: -768.322189 # 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 41 # Segment length 121.870180 meters # Minimum depth: 769.387339 meters looking forward 100.000000 meters along route # Maximum depth: 771.176713 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.387339 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.814482; longitude = -136.050233; duration = 487; initialDepth = 722.323258; finalDepth = 719.387339; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 719.387339 # Seafloor depth: -769.387339 # 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 41 # Segment length 100.374859 meters # Minimum depth: 772.323258 meters looking forward 100.000000 meters along route # Maximum depth: 772.894187 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 722.323258 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.815573; longitude = -136.050414; duration = 401; initialDepth = 723.583603; finalDepth = 722.323258; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.120952 # Actual altitude: 50.120952 # Commanded vehicle depth: 722.323258 # Seafloor depth: -772.444210 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 40 # Segment length 144.194522 meters # Minimum depth: 773.583603 meters looking forward 100.000000 meters along route # Maximum depth: 775.995910 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 723.583603 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.816472; longitude = -136.050563; duration = 576; # abortOnTimeout = True; initialDepth = 724.807754; finalDepth = 723.583603; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.120952 # Actual altitude: 50.120952 # Commanded vehicle depth: 723.583603 # Seafloor depth: -773.583603 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 39 # Segment length 124.975504 meters # Minimum depth: 774.807754 meters looking forward 100.000000 meters along route # Maximum depth: 776.361160 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 724.807754 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.816419; longitude = -136.054492; duration = 499; # abortOnTimeout = True; initialDepth = 721.455016; finalDepth = 724.807754; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.553406 # Actual altitude: 51.553406 # Commanded vehicle depth: 724.807754 # Seafloor depth: -776.361160 # 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 39 # Segment length 121.865068 meters # Minimum depth: 771.455016 meters looking forward 100.000000 meters along route # Maximum depth: 774.417485 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.455016 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.815300; longitude = -136.054309; duration = 487; initialDepth = 719.663905; finalDepth = 721.455016; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9624690000001 # Actual altitude: 52.9624690000001 # Commanded vehicle depth: 721.455016 # Seafloor depth: -774.417485 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 121.865073 meters # Minimum depth: 769.663905 meters looking forward 100.000000 meters along route # Maximum depth: 770.721677 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.663905 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.814209; longitude = -136.054130; duration = 487; initialDepth = 719.590976; finalDepth = 719.663905; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9624690000001 # Actual altitude: 52.9624690000001 # Commanded vehicle depth: 719.663905 # Seafloor depth: -770.721677 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 121.865077 meters # Minimum depth: 769.590976 meters looking forward 100.000000 meters along route # Maximum depth: 772.120729 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.590976 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.813118; longitude = -136.053952; duration = 487; initialDepth = 720.795049; finalDepth = 719.590976; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.057772 # Actual altitude: 51.057772 # Commanded vehicle depth: 719.590976 # Seafloor depth: -769.590976 # 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 39 # Segment length 121.865081 meters # Minimum depth: 770.795049 meters looking forward 100.000000 meters along route # Maximum depth: 771.273652 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.795049 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.812027; longitude = -136.053773; duration = 487; initialDepth = 719.968041; finalDepth = 720.795049; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.339876 # Actual altitude: 50.339876 # Commanded vehicle depth: 720.795049 # Seafloor depth: -771.134925 # 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 39 # Segment length 121.865085 meters # Minimum depth: 769.968041 meters looking forward 100.000000 meters along route # Maximum depth: 770.655586 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.968041 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.810936; longitude = -136.053595; duration = 487; initialDepth = 719.095409; finalDepth = 719.968041; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.687545 # Actual altitude: 50.687545 # Commanded vehicle depth: 719.968041 # Seafloor depth: -770.655586 # 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 39 # Segment length 121.865090 meters # Minimum depth: 769.095409 meters looking forward 100.000000 meters along route # Maximum depth: 770.742633 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.095409 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.809845; longitude = -136.053417; duration = 487; initialDepth = 717.837620; finalDepth = 719.095409; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6472239999999 # Actual altitude: 51.6472239999999 # Commanded vehicle depth: 719.095409 # Seafloor depth: -770.742633 # 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 39 # Segment length 121.865094 meters # Minimum depth: 767.837620 meters looking forward 100.000000 meters along route # Maximum depth: 769.066053 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.837620 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.808754; longitude = -136.053238; duration = 487; initialDepth = 719.066745; finalDepth = 717.837620; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6472239999999 # Actual altitude: 51.6472239999999 # Commanded vehicle depth: 717.83762 # Seafloor depth: -768.774566 # 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 39 # Segment length 121.865098 meters # Minimum depth: 769.066745 meters looking forward 100.000000 meters along route # Maximum depth: 769.674074 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.066745 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.807663; longitude = -136.053060; duration = 487; initialDepth = 719.102146; finalDepth = 719.066745; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.936946 # Actual altitude: 50.936946 # Commanded vehicle depth: 719.066745 # Seafloor depth: -769.066745 # 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 39 # Segment length 121.865102 meters # Minimum depth: 769.102146 meters looking forward 100.000000 meters along route # Maximum depth: 769.593493 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.102146 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.806571; longitude = -136.052881; duration = 487; initialDepth = 719.510183; finalDepth = 719.102146; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4742520000001 # Actual altitude: 50.4742520000001 # Commanded vehicle depth: 719.102146 # Seafloor depth: -769.576398 # 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 39 # Segment length 121.865106 meters # Minimum depth: 769.510183 meters looking forward 100.000000 meters along route # Maximum depth: 771.355722 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.510183 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.805480; longitude = -136.052703; duration = 487; initialDepth = 719.960622; finalDepth = 719.510183; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4742520000001 # Actual altitude: 50.4742520000001 # Commanded vehicle depth: 719.510183 # Seafloor depth: -769.510183 # 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 39 # Segment length 112.677081 meters # Minimum depth: 769.960622 meters looking forward 100.000000 meters along route # Maximum depth: 772.957556 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.960622 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.804389; longitude = -136.052524; duration = 450; initialDepth = 720.230466; finalDepth = 719.960622; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7924680000001 # Actual altitude: 51.7924680000001 # Commanded vehicle depth: 719.960622 # Seafloor depth: -771.753090 # 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 39 # Segment length 100.586865 meters # Minimum depth: 770.230466 meters looking forward 100.000000 meters along route # Maximum depth: 771.133492 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.230466 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.803380; longitude = -136.052359; duration = 402; initialDepth = 721.418356; finalDepth = 720.230466; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7924680000001 # Actual altitude: 51.7924680000001 # Commanded vehicle depth: 720.230466 # Seafloor depth: -770.230466 # 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 39 # Segment length 121.865118 meters # Minimum depth: 771.418356 meters looking forward 100.000000 meters along route # Maximum depth: 772.597743 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.418356 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.802480; longitude = -136.052212; duration = 487; initialDepth = 726.720037; finalDepth = 721.418356; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 721.418356 # Seafloor depth: -771.418356 # 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 39 # Segment length 121.865123 meters # Minimum depth: 776.720037 meters looking forward 100.000000 meters along route # Maximum depth: 778.347057 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 726.720037 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.801389; longitude = -136.052034; duration = 487; initialDepth = 728.895787; finalDepth = 726.720037; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 726.720037 # Seafloor depth: -776.720037 # 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 39 # Segment length 121.865126 meters # Minimum depth: 778.895787 meters looking forward 100.000000 meters along route # Maximum depth: 780.408526 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 728.895787 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.800298; longitude = -136.051855; duration = 487; initialDepth = 729.800834; finalDepth = 728.895787; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 728.895787 # Seafloor depth: -778.895787 # 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 39 # Segment length 121.865130 meters # Minimum depth: 779.800834 meters looking forward 100.000000 meters along route # Maximum depth: 780.425047 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 729.800834 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.799207; longitude = -136.051677; duration = 487; initialDepth = 725.128699; finalDepth = 729.800834; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6242129999999 # Actual altitude: 50.6242129999999 # Commanded vehicle depth: 729.800834 # Seafloor depth: -780.425047 # 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 39 # Segment length 121.865135 meters # Minimum depth: 775.128699 meters looking forward 100.000000 meters along route # Maximum depth: 778.987729 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 725.128699 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.798116; longitude = -136.051498; duration = 487; initialDepth = 719.874563; finalDepth = 725.128699; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.85903 # Actual altitude: 53.85903 # Commanded vehicle depth: 725.128699 # Seafloor depth: -778.987729 # 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 39 # Segment length 121.865139 meters # Minimum depth: 769.874563 meters looking forward 100.000000 meters along route # Maximum depth: 773.476534 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.874563 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.797024; longitude = -136.051320; duration = 487; initialDepth = 716.538597; finalDepth = 719.874563; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.85903 # Actual altitude: 53.85903 # Commanded vehicle depth: 719.874563 # Seafloor depth: -773.476534 # 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 39 # Segment length 121.865143 meters # Minimum depth: 766.538597 meters looking forward 100.000000 meters along route # Maximum depth: 768.656186 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.538597 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795933; longitude = -136.051141; duration = 487; initialDepth = 704.998303; finalDepth = 716.538597; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.601971 # Actual altitude: 53.601971 # Commanded vehicle depth: 716.538597 # Seafloor depth: -768.656186 # 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 39 # Segment length 121.865148 meters # Minimum depth: 754.998303 meters looking forward 100.000000 meters along route # Maximum depth: 764.699176 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 704.998303 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794842; longitude = -136.050963; duration = 487; initialDepth = 700.642012; finalDepth = 704.998303; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.700873 # Actual altitude: 59.700873 # Commanded vehicle depth: 704.998303 # Seafloor depth: -764.699176 # 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 39 # Segment length 121.865151 meters # Minimum depth: 750.642012 meters looking forward 100.000000 meters along route # Maximum depth: 753.407814 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.642012 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.793751; longitude = -136.050784; duration = 487; initialDepth = 698.558004; finalDepth = 700.642012; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.700873 # Actual altitude: 59.700873 # Commanded vehicle depth: 700.642012 # Seafloor depth: -753.407814 # 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 39 # Segment length 106.572216 meters # Minimum depth: 748.558004 meters looking forward 100.000000 meters along route # Maximum depth: 750.202384 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.558004 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.792660; longitude = -136.050606; duration = 426; initialDepth = 697.527625; finalDepth = 698.558004; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.765802 # Actual altitude: 52.765802 # Commanded vehicle depth: 698.558004 # Seafloor depth: -750.202384 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 106.691810 meters # Minimum depth: 747.527625 meters looking forward 100.000000 meters along route # Maximum depth: 748.219666 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.527625 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.791706; longitude = -136.050450; duration = 426; initialDepth = 695.989959; finalDepth = 697.527625; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6443800000001 # Actual altitude: 51.6443800000001 # Commanded vehicle depth: 697.527625 # Seafloor depth: -748.219666 # 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 39 # Segment length 121.865163 meters # Minimum depth: 745.989959 meters looking forward 100.000000 meters along route # Maximum depth: 747.063696 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.989959 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.790751; longitude = -136.050294; duration = 487; initialDepth = 694.268048; finalDepth = 695.989959; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0737370000001 # Actual altitude: 51.0737370000001 # Commanded vehicle depth: 695.989959 # Seafloor depth: -747.063696 # 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 39 # Segment length 121.865167 meters # Minimum depth: 744.268048 meters looking forward 100.000000 meters along route # Maximum depth: 745.907713 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.268048 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.789660; longitude = -136.050115; duration = 487; initialDepth = 692.411532; finalDepth = 694.268048; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6396649999999 # Actual altitude: 51.6396649999999 # Commanded vehicle depth: 694.268048 # Seafloor depth: -745.907713 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 121.865172 meters # Minimum depth: 742.411532 meters looking forward 100.000000 meters along route # Maximum depth: 743.663316 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.411532 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.788568; longitude = -136.049937; duration = 487; initialDepth = 688.359715; finalDepth = 692.411532; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6396649999999 # Actual altitude: 51.6396649999999 # Commanded vehicle depth: 692.411532 # Seafloor depth: -743.663316 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 121.865176 meters # Minimum depth: 738.359715 meters looking forward 100.000000 meters along route # Maximum depth: 742.136073 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.359715 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.787477; longitude = -136.049758; duration = 487; initialDepth = 686.588698; finalDepth = 688.359715; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.776358 # Actual altitude: 53.776358 # Commanded vehicle depth: 688.359715 # Seafloor depth: -742.136073 # 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 39 # Segment length 121.865180 meters # Minimum depth: 736.588698 meters looking forward 100.000000 meters along route # Maximum depth: 737.805833 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 686.588698 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.786386; longitude = -136.049580; duration = 487; initialDepth = 686.346627; finalDepth = 686.588698; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.776358 # Actual altitude: 53.776358 # Commanded vehicle depth: 686.588698 # Seafloor depth: -737.805833 # 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 39 # Segment length 121.865184 meters # Minimum depth: 736.346627 meters looking forward 100.000000 meters along route # Maximum depth: 738.675194 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 686.346627 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785295; longitude = -136.049401; duration = 487; initialDepth = 682.360935; finalDepth = 686.346627; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.217135 # Actual altitude: 51.217135 # Commanded vehicle depth: 686.346627 # Seafloor depth: -736.346627 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 116.891285 meters # Minimum depth: 732.360935 meters looking forward 100.000000 meters along route # Maximum depth: 736.460008 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 682.360935 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.784204; longitude = -136.049223; duration = 467; initialDepth = 682.081528; finalDepth = 682.360935; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.099073 # Actual altitude: 54.099073 # Commanded vehicle depth: 682.360935 # Seafloor depth: -736.460008 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 150.741885 meters # Minimum depth: 732.081528 meters looking forward 100.000000 meters along route # Maximum depth: 733.181829 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 682.081528 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.783158; longitude = -136.049052; duration = 602; # abortOnTimeout = True; initialDepth = 683.323044; finalDepth = 682.081528; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.099073 # Actual altitude: 54.099073 # Commanded vehicle depth: 682.081528 # Seafloor depth: -732.081528 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 115.721103 meters # Minimum depth: 733.323044 meters looking forward 100.000000 meters along route # Maximum depth: 734.574114 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 683.323044 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.783168; longitude = -136.053155; duration = 462; # abortOnTimeout = True; initialDepth = 685.274364; finalDepth = 683.323044; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 683.323044 # Seafloor depth: -733.323044 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 121.865927 meters # Minimum depth: 735.274364 meters looking forward 100.000000 meters along route # Maximum depth: 737.249914 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.274364 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.784204; longitude = -136.053325; duration = 487; initialDepth = 687.931212; finalDepth = 685.274364; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 685.274364 # Seafloor depth: -735.274364 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 121.865922 meters # Minimum depth: 737.931212 meters looking forward 100.000000 meters along route # Maximum depth: 739.720349 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.931212 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785295; longitude = -136.053504; duration = 487; initialDepth = 690.375651; finalDepth = 687.931212; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 687.931212 # Seafloor depth: -737.931212 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 121.865919 meters # Minimum depth: 740.375651 meters looking forward 100.000000 meters along route # Maximum depth: 741.560298 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.375651 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.786386; longitude = -136.053682; duration = 487; initialDepth = 692.038521; finalDepth = 690.375651; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 690.375651 # Seafloor depth: -740.375651 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 121.865914 meters # Minimum depth: 742.038521 meters looking forward 100.000000 meters along route # Maximum depth: 743.998974 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.038521 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.787477; longitude = -136.053861; duration = 487; initialDepth = 694.373056; finalDepth = 692.038521; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 692.038521 # Seafloor depth: -742.038521 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 121.865909 meters # Minimum depth: 744.373056 meters looking forward 100.000000 meters along route # Maximum depth: 745.927999 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.373056 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.788568; longitude = -136.054040; duration = 487; initialDepth = 696.623772; finalDepth = 694.373056; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 694.373056 # Seafloor depth: -744.373056 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 121.865906 meters # Minimum depth: 746.623772 meters looking forward 100.000000 meters along route # Maximum depth: 747.822198 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 696.623772 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.789660; longitude = -136.054219; duration = 487; initialDepth = 698.327952; finalDepth = 696.623772; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 696.623772 # Seafloor depth: -746.623772 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 121.865901 meters # Minimum depth: 748.327952 meters looking forward 100.000000 meters along route # Maximum depth: 750.505926 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.327952 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.790751; longitude = -136.054398; duration = 487; initialDepth = 700.592682; finalDepth = 698.327952; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 698.327952 # Seafloor depth: -748.327952 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 121.865897 meters # Minimum depth: 750.592682 meters looking forward 100.000000 meters along route # Maximum depth: 756.167498 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.592682 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.791842; longitude = -136.054577; duration = 487; initialDepth = 709.263285; finalDepth = 700.592682; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 700.592682 # Seafloor depth: -750.592682 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 121.865893 meters # Minimum depth: 759.263285 meters looking forward 100.000000 meters along route # Maximum depth: 767.405551 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.263285 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.792933; longitude = -136.054755; duration = 487; initialDepth = 719.674318; finalDepth = 709.263285; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 709.263285 # Seafloor depth: -759.263285 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 121.865888 meters # Minimum depth: 769.674318 meters looking forward 100.000000 meters along route # Maximum depth: 774.884209 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.674318 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794024; longitude = -136.054934; duration = 487; initialDepth = 725.779396; finalDepth = 719.674318; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 719.674318 # Seafloor depth: -769.674318 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 121.865884 meters # Minimum depth: 775.779396 meters looking forward 100.000000 meters along route # Maximum depth: 778.213329 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 725.779396 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795115; longitude = -136.055113; duration = 487; initialDepth = 729.107834; finalDepth = 725.779396; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 725.779396 # Seafloor depth: -775.779396 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 121.865880 meters # Minimum depth: 779.107834 meters looking forward 100.000000 meters along route # Maximum depth: 779.815311 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 729.107834 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.796206; longitude = -136.055292; duration = 487; initialDepth = 729.688714; finalDepth = 729.107834; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 729.107834 # Seafloor depth: -779.107834 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 110.350277 meters # Minimum depth: 779.688714 meters looking forward 100.000000 meters along route # Maximum depth: 780.144351 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 729.688714 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.797297; longitude = -136.055471; duration = 441; initialDepth = 728.473865; finalDepth = 729.688714; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.308581 # Actual altitude: 50.308581 # Commanded vehicle depth: 729.688714 # Seafloor depth: -779.997295 # 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 37 # Segment length 102.915002 meters # Minimum depth: 778.473865 meters looking forward 100.000000 meters along route # Maximum depth: 779.300891 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 728.473865 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.798285; longitude = -136.055633; duration = 411; initialDepth = 728.351777; finalDepth = 728.473865; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8270259999999 # Actual altitude: 50.8270259999999 # Commanded vehicle depth: 728.473865 # Seafloor depth: -779.300891 # 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 37 # Segment length 121.865868 meters # Minimum depth: 778.351777 meters looking forward 100.000000 meters along route # Maximum depth: 778.984835 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 728.351777 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.799207; longitude = -136.055784; duration = 487; initialDepth = 725.614844; finalDepth = 728.351777; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8270259999999 # Actual altitude: 50.8270259999999 # Commanded vehicle depth: 728.351777 # Seafloor depth: -778.620776 # 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 37 # Segment length 121.865864 meters # Minimum depth: 775.614844 meters looking forward 100.000000 meters along route # Maximum depth: 777.571579 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 725.614844 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.800298; longitude = -136.055962; duration = 487; initialDepth = 722.334330; finalDepth = 725.614844; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9567350000001 # Actual altitude: 51.9567350000001 # Commanded vehicle depth: 725.614844 # Seafloor depth: -777.571579 # 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 37 # Segment length 121.865859 meters # Minimum depth: 772.334330 meters looking forward 100.000000 meters along route # Maximum depth: 774.974953 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 722.334330 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.801389; longitude = -136.056141; duration = 487; initialDepth = 719.864903; finalDepth = 722.334330; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.640623 # Actual altitude: 52.640623 # Commanded vehicle depth: 722.33433 # Seafloor depth: -774.974953 # 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 37 # Segment length 121.865855 meters # Minimum depth: 769.864903 meters looking forward 100.000000 meters along route # Maximum depth: 771.949807 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.864903 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.802480; longitude = -136.056320; duration = 487; initialDepth = 717.588909; finalDepth = 719.864903; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.640623 # Actual altitude: 52.640623 # Commanded vehicle depth: 719.864903 # Seafloor depth: -771.949807 # 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 37 # Segment length 121.865851 meters # Minimum depth: 767.588909 meters looking forward 100.000000 meters along route # Maximum depth: 769.131397 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.588909 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.803571; longitude = -136.056499; duration = 487; initialDepth = 716.458507; finalDepth = 717.588909; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0849039999999 # Actual altitude: 52.0849039999999 # Commanded vehicle depth: 717.588909 # Seafloor depth: -769.131397 # 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 37 # Segment length 121.865847 meters # Minimum depth: 766.458507 meters looking forward 100.000000 meters along route # Maximum depth: 766.931671 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.458507 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.804662; longitude = -136.056678; duration = 487; initialDepth = 716.165945; finalDepth = 716.458507; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.542488 # Actual altitude: 51.542488 # Commanded vehicle depth: 716.458507 # Seafloor depth: -766.931671 # 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 37 # Segment length 121.865842 meters # Minimum depth: 766.165945 meters looking forward 100.000000 meters along route # Maximum depth: 766.560691 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.165945 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.805753; longitude = -136.056856; duration = 487; initialDepth = 715.492889; finalDepth = 716.165945; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.473164 # Actual altitude: 50.473164 # Commanded vehicle depth: 716.165945 # Seafloor depth: -766.420574 # 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 37 # Segment length 121.865838 meters # Minimum depth: 765.492889 meters looking forward 100.000000 meters along route # Maximum depth: 767.088230 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.492889 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.806844; longitude = -136.057035; duration = 487; initialDepth = 716.244871; finalDepth = 715.492889; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.595341 # Actual altitude: 51.595341 # Commanded vehicle depth: 715.492889 # Seafloor depth: -767.088230 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 121.865834 meters # Minimum depth: 766.244871 meters looking forward 100.000000 meters along route # Maximum depth: 767.263644 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.244871 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.807935; longitude = -136.057214; duration = 487; initialDepth = 716.533846; finalDepth = 716.244871; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.595341 # Actual altitude: 51.595341 # Commanded vehicle depth: 716.244871 # Seafloor depth: -766.244871 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 121.865829 meters # Minimum depth: 766.533846 meters looking forward 100.000000 meters along route # Maximum depth: 767.696046 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.533846 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.809026; longitude = -136.057393; duration = 487; initialDepth = 717.696705; finalDepth = 716.533846; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1622 # Actual altitude: 51.1622 # Commanded vehicle depth: 716.533846 # Seafloor depth: -767.696046 # 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 37 # Segment length 121.865825 meters # Minimum depth: 767.696705 meters looking forward 100.000000 meters along route # Maximum depth: 768.841920 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.696705 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.810118; longitude = -136.057572; duration = 487; initialDepth = 718.774605; finalDepth = 717.696705; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1622 # Actual altitude: 51.1622 # Commanded vehicle depth: 717.696705 # Seafloor depth: -767.696705 # 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 37 # Segment length 121.865821 meters # Minimum depth: 768.774605 meters looking forward 100.000000 meters along route # Maximum depth: 769.254465 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.774605 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.811209; longitude = -136.057751; duration = 487; initialDepth = 719.818009; finalDepth = 718.774605; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0858320000001 # Actual altitude: 50.0858320000001 # Commanded vehicle depth: 718.774605 # Seafloor depth: -768.860437 # 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 37 # Segment length 107.767467 meters # Minimum depth: 769.818009 meters looking forward 100.000000 meters along route # Maximum depth: 771.642521 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.818009 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.812300; longitude = -136.057929; duration = 431; initialDepth = 721.889030; finalDepth = 719.818009; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0858320000001 # Actual altitude: 50.0858320000001 # Commanded vehicle depth: 719.818009 # Seafloor depth: -769.818009 # 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 37 # Segment length 105.497709 meters # Minimum depth: 771.889030 meters looking forward 100.000000 meters along route # Maximum depth: 772.851766 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.889030 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.813265; longitude = -136.058088; duration = 421; initialDepth = 723.135521; finalDepth = 721.889030; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 721.88903 # Seafloor depth: -771.889030 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 121.865809 meters # Minimum depth: 773.135521 meters looking forward 100.000000 meters along route # Maximum depth: 773.856575 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 723.135521 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.814209; longitude = -136.058242; duration = 487; initialDepth = 724.401053; finalDepth = 723.135521; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 723.135521 # Seafloor depth: -773.135521 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 117.137466 meters # Minimum depth: 774.401053 meters looking forward 100.000000 meters along route # Maximum depth: 775.299410 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 724.401053 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.815300; longitude = -136.058421; duration = 468; initialDepth = 725.275970; finalDepth = 724.401053; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 724.401053 # Seafloor depth: -774.401053 # 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 36 # Segment length 149.995996 meters # Minimum depth: 775.275970 meters looking forward 100.000000 meters along route # Maximum depth: 777.612743 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 725.275970 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.816349; longitude = -136.058593; duration = 599; # abortOnTimeout = True; initialDepth = 726.715642; finalDepth = 725.275970; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 725.27597 # Seafloor depth: -775.275970 # 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 35 # Segment length 109.096104 meters # Minimum depth: 776.715642 meters looking forward 100.000000 meters along route # Maximum depth: 777.659607 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 726.715642 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.816277; longitude = -136.062677; duration = 436; # abortOnTimeout = True; initialDepth = 724.477430; finalDepth = 726.715642; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.943965 # Actual altitude: 50.943965 # Commanded vehicle depth: 726.715642 # Seafloor depth: -777.659607 # 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 35 # Segment length 121.866281 meters # Minimum depth: 774.477430 meters looking forward 100.000000 meters along route # Maximum depth: 776.488023 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 724.477430 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.815300; longitude = -136.062517; duration = 487; initialDepth = 722.394008; finalDepth = 724.477430; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.010593 # Actual altitude: 52.010593 # Commanded vehicle depth: 724.47743 # Seafloor depth: -776.488023 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 107.923956 meters # Minimum depth: 772.394008 meters looking forward 100.000000 meters along route # Maximum depth: 773.826707 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 722.394008 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.814209; longitude = -136.062338; duration = 431; initialDepth = 721.019154; finalDepth = 722.394008; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.010593 # Actual altitude: 52.010593 # Commanded vehicle depth: 722.394008 # Seafloor depth: -773.826707 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 105.342046 meters # Minimum depth: 771.019154 meters looking forward 100.000000 meters along route # Maximum depth: 772.129586 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.019154 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.813243; longitude = -136.062179; duration = 421; initialDepth = 719.891598; finalDepth = 721.019154; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4326990000001 # Actual altitude: 51.4326990000001 # Commanded vehicle depth: 721.019154 # Seafloor depth: -772.129586 # 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 35 # Segment length 121.866293 meters # Minimum depth: 769.891598 meters looking forward 100.000000 meters along route # Maximum depth: 770.883830 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.891598 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.812300; longitude = -136.062024; duration = 487; initialDepth = 719.725332; finalDepth = 719.891598; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1104320000001 # Actual altitude: 51.1104320000001 # Commanded vehicle depth: 719.891598 # Seafloor depth: -770.883830 # 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 35 # Segment length 121.866298 meters # Minimum depth: 769.725332 meters looking forward 100.000000 meters along route # Maximum depth: 770.918550 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.725332 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.811209; longitude = -136.061845; duration = 487; initialDepth = 718.862984; finalDepth = 719.725332; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9922319999999 # Actual altitude: 50.9922319999999 # Commanded vehicle depth: 719.725332 # Seafloor depth: -769.725332 # 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 35 # Segment length 121.866301 meters # Minimum depth: 768.862984 meters looking forward 100.000000 meters along route # Maximum depth: 770.359507 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.862984 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.810118; longitude = -136.061666; duration = 487; initialDepth = 716.410343; finalDepth = 718.862984; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.496523 # Actual altitude: 51.496523 # Commanded vehicle depth: 718.862984 # Seafloor depth: -770.359507 # 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 35 # Segment length 121.866306 meters # Minimum depth: 766.410343 meters looking forward 100.000000 meters along route # Maximum depth: 768.454859 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.410343 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.809026; longitude = -136.061487; duration = 487; initialDepth = 714.895613; finalDepth = 716.410343; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.044516 # Actual altitude: 52.044516 # Commanded vehicle depth: 716.410343 # Seafloor depth: -768.454859 # 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 35 # Segment length 121.866311 meters # Minimum depth: 764.895613 meters looking forward 100.000000 meters along route # Maximum depth: 765.856510 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.895613 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.807935; longitude = -136.061308; duration = 487; initialDepth = 713.974581; finalDepth = 714.895613; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.044516 # Actual altitude: 52.044516 # Commanded vehicle depth: 714.895613 # Seafloor depth: -765.856510 # 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 35 # Segment length 121.866315 meters # Minimum depth: 763.974581 meters looking forward 100.000000 meters along route # Maximum depth: 764.622535 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.974581 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.806844; longitude = -136.061129; duration = 487; initialDepth = 714.332304; finalDepth = 713.974581; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9608969999999 # Actual altitude: 50.9608969999999 # Commanded vehicle depth: 713.974581 # Seafloor depth: -764.622535 # 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 35 # Segment length 121.866319 meters # Minimum depth: 764.332304 meters looking forward 100.000000 meters along route # Maximum depth: 765.129020 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.332304 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.805753; longitude = -136.060950; duration = 487; initialDepth = 715.957970; finalDepth = 714.332304; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.647954 # Actual altitude: 50.647954 # Commanded vehicle depth: 714.332304 # Seafloor depth: -764.332304 # 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 35 # Segment length 121.866323 meters # Minimum depth: 765.957970 meters looking forward 100.000000 meters along route # Maximum depth: 768.636882 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.957970 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.804662; longitude = -136.060771; duration = 487; initialDepth = 718.116470; finalDepth = 715.957970; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 715.95797 # Seafloor depth: -765.957970 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 121.866328 meters # Minimum depth: 768.116470 meters looking forward 100.000000 meters along route # Maximum depth: 769.954131 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.116470 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.803571; longitude = -136.060592; duration = 487; initialDepth = 721.134959; finalDepth = 718.116470; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 718.11647 # Seafloor depth: -768.116470 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 121.866332 meters # Minimum depth: 771.134959 meters looking forward 100.000000 meters along route # Maximum depth: 775.921080 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.134959 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.802480; longitude = -136.060413; duration = 487; initialDepth = 724.093939; finalDepth = 721.134959; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 721.134959 # Seafloor depth: -771.134959 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 121.866336 meters # Minimum depth: 774.093939 meters looking forward 100.000000 meters along route # Maximum depth: 776.823957 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 724.093939 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.801389; longitude = -136.060234; duration = 487; initialDepth = 729.186207; finalDepth = 724.093939; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.121089 # Actual altitude: 50.121089 # Commanded vehicle depth: 724.093939 # Seafloor depth: -774.215028 # 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 35 # Segment length 121.866341 meters # Minimum depth: 779.186207 meters looking forward 100.000000 meters along route # Maximum depth: 780.854021 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 729.186207 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.800298; longitude = -136.060055; duration = 487; initialDepth = 730.823668; finalDepth = 729.186207; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.121089 # Actual altitude: 50.121089 # Commanded vehicle depth: 729.186207 # Seafloor depth: -779.186207 # 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 35 # Segment length 121.866345 meters # Minimum depth: 780.823668 meters looking forward 100.000000 meters along route # Maximum depth: 783.835911 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 730.823668 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.799207; longitude = -136.059876; duration = 487; initialDepth = 732.015999; finalDepth = 730.823668; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 730.823668 # Seafloor depth: -780.823668 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 121.866349 meters # Minimum depth: 782.015999 meters looking forward 100.000000 meters along route # Maximum depth: 783.256430 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 732.015999 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.798116; longitude = -136.059697; duration = 487; initialDepth = 732.177678; finalDepth = 732.015999; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.371494 # Actual altitude: 50.371494 # Commanded vehicle depth: 732.015999 # Seafloor depth: -782.387493 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 121.866354 meters # Minimum depth: 782.177678 meters looking forward 100.000000 meters along route # Maximum depth: 783.098416 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 732.177678 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.797024; longitude = -136.059518; duration = 487; initialDepth = 731.176557; finalDepth = 732.177678; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.920738 # Actual altitude: 50.920738 # Commanded vehicle depth: 732.177678 # Seafloor depth: -783.098416 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 108.908799 meters # Minimum depth: 781.176557 meters looking forward 100.000000 meters along route # Maximum depth: 781.837688 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 731.176557 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795933; longitude = -136.059339; duration = 435; initialDepth = 727.596492; finalDepth = 731.176557; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.920738 # Actual altitude: 50.920738 # Commanded vehicle depth: 731.176557 # Seafloor depth: -781.837688 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 104.357331 meters # Minimum depth: 777.596492 meters looking forward 100.000000 meters along route # Maximum depth: 780.669939 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 727.596492 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794958; longitude = -136.059179; duration = 417; initialDepth = 725.155224; finalDepth = 727.596492; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.073447 # Actual altitude: 53.073447 # Commanded vehicle depth: 727.596492 # Seafloor depth: -780.669939 # 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 35 # Segment length 121.866365 meters # Minimum depth: 775.155224 meters looking forward 100.000000 meters along route # Maximum depth: 776.249627 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 725.155224 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794024; longitude = -136.059025; duration = 487; initialDepth = 716.327543; finalDepth = 725.155224; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.073447 # Actual altitude: 53.073447 # Commanded vehicle depth: 725.155224 # Seafloor depth: -776.249627 # 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 35 # Segment length 121.866370 meters # Minimum depth: 766.327543 meters looking forward 100.000000 meters along route # Maximum depth: 774.056941 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.327543 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.792933; longitude = -136.058846; duration = 487; initialDepth = 701.906201; finalDepth = 716.327543; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.7293980000001 # Actual altitude: 57.7293980000001 # Commanded vehicle depth: 716.327543 # Seafloor depth: -774.056941 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 121.866374 meters # Minimum depth: 751.906201 meters looking forward 100.000000 meters along route # Maximum depth: 761.513847 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 701.906201 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.791842; longitude = -136.058667; duration = 487; initialDepth = 699.438782; finalDepth = 701.906201; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.607646 # Actual altitude: 59.607646 # Commanded vehicle depth: 701.906201 # Seafloor depth: -761.513847 # 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 35 # Segment length 121.866379 meters # Minimum depth: 749.438782 meters looking forward 100.000000 meters along route # Maximum depth: 751.243913 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.438782 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.790751; longitude = -136.058488; duration = 487; initialDepth = 697.489926; finalDepth = 699.438782; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.607646 # Actual altitude: 59.607646 # Commanded vehicle depth: 699.438782 # Seafloor depth: -751.243913 # 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 35 # Segment length 121.866383 meters # Minimum depth: 747.489926 meters looking forward 100.000000 meters along route # Maximum depth: 748.802198 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.489926 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.789660; longitude = -136.058309; duration = 487; initialDepth = 694.958681; finalDepth = 697.489926; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8051310000001 # Actual altitude: 51.8051310000001 # Commanded vehicle depth: 697.489926 # Seafloor depth: -748.802198 # 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 35 # Segment length 121.866387 meters # Minimum depth: 744.958681 meters looking forward 100.000000 meters along route # Maximum depth: 746.855512 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.958681 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.788568; longitude = -136.058130; duration = 487; initialDepth = 692.093375; finalDepth = 694.958681; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.896831 # Actual altitude: 51.896831 # Commanded vehicle depth: 694.958681 # Seafloor depth: -746.855512 # 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 35 # Segment length 121.866392 meters # Minimum depth: 742.093375 meters looking forward 100.000000 meters along route # Maximum depth: 744.192616 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.093375 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.787477; longitude = -136.057951; duration = 487; initialDepth = 689.125045; finalDepth = 692.093375; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.099241 # Actual altitude: 52.099241 # Commanded vehicle depth: 692.093375 # Seafloor depth: -744.192616 # 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 35 # Segment length 121.866396 meters # Minimum depth: 739.125045 meters looking forward 100.000000 meters along route # Maximum depth: 741.267996 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.125045 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.786386; longitude = -136.057772; duration = 487; initialDepth = 686.769314; finalDepth = 689.125045; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.142951 # Actual altitude: 52.142951 # Commanded vehicle depth: 689.125045 # Seafloor depth: -741.267996 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 121.866400 meters # Minimum depth: 736.769314 meters looking forward 100.000000 meters along route # Maximum depth: 738.461216 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 686.769314 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785295; longitude = -136.057593; duration = 487; initialDepth = 683.046182; finalDepth = 686.769314; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.142951 # Actual altitude: 52.142951 # Commanded vehicle depth: 686.769314 # Seafloor depth: -738.461216 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 123.763376 meters # Minimum depth: 733.046182 meters looking forward 100.000000 meters along route # Maximum depth: 736.074449 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 683.046182 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.784204; longitude = -136.057414; duration = 495; initialDepth = 681.576046; finalDepth = 683.046182; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.0282669999999 # Actual altitude: 53.0282669999999 # Commanded vehicle depth: 683.046182 # Seafloor depth: -736.074449 # 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; } # ####################################################### # # 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 149.994519 meters # Minimum depth: 731.576046 meters looking forward 100.000000 meters along route # Maximum depth: 732.870911 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 681.576046 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.783096; longitude = -136.057232; duration = 599; # abortOnTimeout = True; initialDepth = 681.739349; finalDepth = 681.576046; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.0282669999999 # Actual altitude: 53.0282669999999 # Commanded vehicle depth: 681.576046 # Seafloor depth: -732.870911 # 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; } # ####################################################### # # 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 131.917405 meters # Minimum depth: 731.739349 meters looking forward 100.000000 meters along route # Maximum depth: 734.065446 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 681.739349 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.783023; longitude = -136.061309; duration = 527; # abortOnTimeout = True; initialDepth = 684.900573; finalDepth = 681.739349; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.294865 # Actual altitude: 51.294865 # Commanded vehicle depth: 681.739349 # Seafloor depth: -731.739349 # 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 33 # Segment length 121.866874 meters # Minimum depth: 734.900573 meters looking forward 100.000000 meters along route # Maximum depth: 737.562614 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 684.900573 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.784204; longitude = -136.061503; duration = 487; initialDepth = 688.723189; finalDepth = 684.900573; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 684.900573 # Seafloor depth: -734.900573 # 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 33 # Segment length 121.866870 meters # Minimum depth: 738.723189 meters looking forward 100.000000 meters along route # Maximum depth: 741.386668 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.723189 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785295; longitude = -136.061682; duration = 487; initialDepth = 692.382459; finalDepth = 688.723189; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 688.723189 # Seafloor depth: -738.723189 # 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 33 # Segment length 121.866866 meters # Minimum depth: 742.382459 meters looking forward 100.000000 meters along route # Maximum depth: 744.077135 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.382459 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.786386; longitude = -136.061862; duration = 487; initialDepth = 694.740452; finalDepth = 692.382459; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 692.382459 # Seafloor depth: -742.382459 # 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 33 # Segment length 121.866861 meters # Minimum depth: 744.740452 meters looking forward 100.000000 meters along route # Maximum depth: 747.030969 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.740452 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.787477; longitude = -136.062041; duration = 487; initialDepth = 697.732744; finalDepth = 694.740452; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 694.740452 # Seafloor depth: -744.740452 # 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 33 # Segment length 121.866857 meters # Minimum depth: 747.732744 meters looking forward 100.000000 meters along route # Maximum depth: 750.049021 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.732744 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.788568; longitude = -136.062220; duration = 487; initialDepth = 700.654708; finalDepth = 697.732744; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 697.732744 # Seafloor depth: -747.732744 # 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 33 # Segment length 121.866852 meters # Minimum depth: 750.654708 meters looking forward 100.000000 meters along route # Maximum depth: 753.149220 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.654708 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.789660; longitude = -136.062399; duration = 487; initialDepth = 703.943520; finalDepth = 700.654708; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 700.654708 # Seafloor depth: -750.654708 # 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 33 # Segment length 121.866848 meters # Minimum depth: 753.943520 meters looking forward 100.000000 meters along route # Maximum depth: 766.460531 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 703.943520 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.790751; longitude = -136.062579; duration = 487; initialDepth = 720.334980; finalDepth = 703.943520; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 703.94352 # Seafloor depth: -753.943520 # 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 33 # Segment length 121.866844 meters # Minimum depth: 770.334980 meters looking forward 100.000000 meters along route # Maximum depth: 774.601525 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.334980 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.791842; longitude = -136.062758; duration = 487; initialDepth = 725.281826; finalDepth = 720.334980; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 720.33498 # Seafloor depth: -770.334980 # 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 33 # Segment length 121.866839 meters # Minimum depth: 775.281826 meters looking forward 100.000000 meters along route # Maximum depth: 780.000218 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 725.281826 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.792933; longitude = -136.062937; duration = 487; initialDepth = 730.699551; finalDepth = 725.281826; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 725.281826 # Seafloor depth: -775.281826 # 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 33 # Segment length 121.866835 meters # Minimum depth: 780.699551 meters looking forward 100.000000 meters along route # Maximum depth: 782.264034 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 730.699551 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794024; longitude = -136.063117; duration = 487; initialDepth = 732.572385; finalDepth = 730.699551; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 730.699551 # Seafloor depth: -780.699551 # 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 33 # Segment length 121.866831 meters # Minimum depth: 782.572385 meters looking forward 100.000000 meters along route # Maximum depth: 783.100971 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 732.572385 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795115; longitude = -136.063296; duration = 487; initialDepth = 733.151091; finalDepth = 732.572385; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 732.572385 # Seafloor depth: -782.572385 # 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 33 # Segment length 121.866826 meters # Minimum depth: 783.151091 meters looking forward 100.000000 meters along route # Maximum depth: 784.491229 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 733.151091 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.796206; longitude = -136.063475; duration = 487; initialDepth = 734.282224; finalDepth = 733.151091; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 733.151091 # Seafloor depth: -783.151091 # 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 33 # Segment length 109.669583 meters # Minimum depth: 784.282224 meters looking forward 100.000000 meters along route # Maximum depth: 784.793632 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 734.282224 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.797297; longitude = -136.063654; duration = 438; initialDepth = 725.985402; finalDepth = 734.282224; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.511408 # Actual altitude: 50.511408 # Commanded vehicle depth: 734.282224 # Seafloor depth: -784.793632 # 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 33 # Segment length 103.597352 meters # Minimum depth: 775.985402 meters looking forward 100.000000 meters along route # Maximum depth: 783.213762 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 725.985402 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.798279; longitude = -136.063816; duration = 414; initialDepth = 724.604858; finalDepth = 725.985402; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.22836 # Actual altitude: 57.22836 # Commanded vehicle depth: 725.985402 # Seafloor depth: -783.213762 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 121.866814 meters # Minimum depth: 774.604858 meters looking forward 100.000000 meters along route # Maximum depth: 775.956865 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 724.604858 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.799207; longitude = -136.063968; duration = 487; initialDepth = 720.568897; finalDepth = 724.604858; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.22836 # Actual altitude: 57.22836 # Commanded vehicle depth: 724.604858 # Seafloor depth: -775.181603 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 121.866810 meters # Minimum depth: 770.568897 meters looking forward 100.000000 meters along route # Maximum depth: 774.183258 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.568897 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.800298; longitude = -136.064147; duration = 487; initialDepth = 720.461968; finalDepth = 720.568897; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9697640000001 # Actual altitude: 52.9697640000001 # Commanded vehicle depth: 720.568897 # Seafloor depth: -773.538661 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 121.866805 meters # Minimum depth: 770.461968 meters looking forward 100.000000 meters along route # Maximum depth: 771.161225 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.461968 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.801389; longitude = -136.064327; duration = 487; initialDepth = 719.225371; finalDepth = 720.461968; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9697640000001 # Actual altitude: 52.9697640000001 # Commanded vehicle depth: 720.461968 # Seafloor depth: -770.461968 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 121.866801 meters # Minimum depth: 769.225371 meters looking forward 100.000000 meters along route # Maximum depth: 770.569982 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.225371 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.802480; longitude = -136.064506; duration = 487; initialDepth = 717.159440; finalDepth = 719.225371; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.344611 # Actual altitude: 51.344611 # Commanded vehicle depth: 719.225371 # Seafloor depth: -770.569982 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 121.866797 meters # Minimum depth: 767.159440 meters looking forward 100.000000 meters along route # Maximum depth: 769.014119 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.159440 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.803571; longitude = -136.064685; duration = 487; initialDepth = 710.631853; finalDepth = 717.159440; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.854679 # Actual altitude: 51.854679 # Commanded vehicle depth: 717.15944 # Seafloor depth: -769.014119 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 121.866792 meters # Minimum depth: 760.631853 meters looking forward 100.000000 meters along route # Maximum depth: 764.281998 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.631853 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.804662; longitude = -136.064865; duration = 487; initialDepth = 710.824168; finalDepth = 710.631853; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6501450000001 # Actual altitude: 53.6501450000001 # Commanded vehicle depth: 710.631853 # Seafloor depth: -764.281998 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 121.866788 meters # Minimum depth: 760.824168 meters looking forward 100.000000 meters along route # Maximum depth: 762.304650 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.824168 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.805753; longitude = -136.065044; duration = 487; initialDepth = 713.138306; finalDepth = 710.824168; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6501450000001 # Actual altitude: 53.6501450000001 # Commanded vehicle depth: 710.824168 # Seafloor depth: -760.824168 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 121.866783 meters # Minimum depth: 763.138306 meters looking forward 100.000000 meters along route # Maximum depth: 765.615630 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.138306 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.806844; longitude = -136.065223; duration = 487; initialDepth = 716.514982; finalDepth = 713.138306; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 713.138306 # Seafloor depth: -763.138306 # 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 33 # Segment length 121.866779 meters # Minimum depth: 766.514982 meters looking forward 100.000000 meters along route # Maximum depth: 768.137304 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.514982 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.807935; longitude = -136.065402; duration = 487; initialDepth = 719.095606; finalDepth = 716.514982; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 716.514982 # Seafloor depth: -766.514982 # 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 33 # Segment length 121.866775 meters # Minimum depth: 769.095606 meters looking forward 100.000000 meters along route # Maximum depth: 771.993213 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.095606 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.809026; longitude = -136.065582; duration = 487; initialDepth = 722.450410; finalDepth = 719.095606; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 719.095606 # Seafloor depth: -769.095606 # 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 33 # Segment length 121.866770 meters # Minimum depth: 772.450410 meters looking forward 100.000000 meters along route # Maximum depth: 773.804647 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 722.450410 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.810118; longitude = -136.065761; duration = 487; initialDepth = 723.375095; finalDepth = 722.450410; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 722.45041 # Seafloor depth: -772.450410 # 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 33 # Segment length 121.866766 meters # Minimum depth: 773.375095 meters looking forward 100.000000 meters along route # Maximum depth: 774.070915 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 723.375095 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.811209; longitude = -136.065940; duration = 487; initialDepth = 723.766058; finalDepth = 723.375095; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.545616 # Actual altitude: 50.545616 # Commanded vehicle depth: 723.375095 # Seafloor depth: -773.920711 # 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 33 # Segment length 102.790495 meters # Minimum depth: 773.766058 meters looking forward 100.000000 meters along route # Maximum depth: 774.105252 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 723.766058 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.812300; longitude = -136.066119; duration = 411; initialDepth = 724.143735; finalDepth = 723.766058; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.545616 # Actual altitude: 50.545616 # Commanded vehicle depth: 723.766058 # Seafloor depth: -773.766058 # 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 33 # Segment length 110.476335 meters # Minimum depth: 774.143735 meters looking forward 100.000000 meters along route # Maximum depth: 775.448109 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 724.143735 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.813220; longitude = -136.066271; duration = 441; initialDepth = 725.841290; finalDepth = 724.143735; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 724.143735 # Seafloor depth: -774.143735 # 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 33 # Segment length 121.866754 meters # Minimum depth: 775.841290 meters looking forward 100.000000 meters along route # Maximum depth: 776.719715 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 725.841290 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.814209; longitude = -136.066433; duration = 487; initialDepth = 727.295569; finalDepth = 725.841290; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 725.84129 # Seafloor depth: -775.841290 # 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 33 # Segment length 100.942988 meters # Minimum depth: 777.295569 meters looking forward 100.000000 meters along route # Maximum depth: 779.803051 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 727.295569 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.815300; longitude = -136.066613; duration = 403; initialDepth = 729.936523; finalDepth = 727.295569; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 727.295569 # Seafloor depth: -777.295569 # 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 32 # Segment length 150.003142 meters # Minimum depth: 779.936523 meters looking forward 100.000000 meters along route # Maximum depth: 782.954510 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 729.936523 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.816204; longitude = -136.066761; duration = 600; # abortOnTimeout = True; initialDepth = 731.444421; finalDepth = 729.936523; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 729.936523 # Seafloor depth: -779.936523 # 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 31 # Segment length 92.789769 meters # Minimum depth: 781.444421 meters looking forward 100.000000 meters along route # Maximum depth: 783.032425 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 731.444421 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.816131; longitude = -136.070845; duration = 371; # abortOnTimeout = True; initialDepth = 729.095795; finalDepth = 731.444421; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.588004 # Actual altitude: 51.588004 # Commanded vehicle depth: 731.444421 # Seafloor depth: -783.032425 # 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 31 # Segment length 121.867173 meters # Minimum depth: 779.095795 meters looking forward 100.000000 meters along route # Maximum depth: 780.975201 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 729.095795 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.815300; longitude = -136.070708; duration = 487; initialDepth = 727.410012; finalDepth = 729.095795; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.879406 # Actual altitude: 51.879406 # Commanded vehicle depth: 729.095795 # Seafloor depth: -780.975201 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 113.093212 meters # Minimum depth: 777.410012 meters looking forward 100.000000 meters along route # Maximum depth: 778.659903 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 727.410012 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.814209; longitude = -136.070529; duration = 452; initialDepth = 726.769544; finalDepth = 727.410012; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.879406 # Actual altitude: 51.879406 # Commanded vehicle depth: 727.410012 # Seafloor depth: -778.659903 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.174351 meters # Minimum depth: 776.769544 meters looking forward 100.000000 meters along route # Maximum depth: 777.254322 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 726.769544 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.813197; longitude = -136.070362; duration = 400; initialDepth = 726.463670; finalDepth = 726.769544; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2498909999999 # Actual altitude: 51.2498909999999 # Commanded vehicle depth: 726.769544 # Seafloor depth: -777.254322 # 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 31 # Segment length 121.867185 meters # Minimum depth: 776.463670 meters looking forward 100.000000 meters along route # Maximum depth: 777.030508 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 726.463670 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.812300; longitude = -136.070215; duration = 487; initialDepth = 724.022517; finalDepth = 726.463670; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.484778 # Actual altitude: 50.484778 # Commanded vehicle depth: 726.46367 # Seafloor depth: -776.481102 # 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 31 # Segment length 121.867189 meters # Minimum depth: 774.022517 meters looking forward 100.000000 meters along route # Maximum depth: 776.114750 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 724.022517 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.811209; longitude = -136.070035; duration = 487; initialDepth = 722.109746; finalDepth = 724.022517; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.092233 # Actual altitude: 52.092233 # Commanded vehicle depth: 724.022517 # Seafloor depth: -776.114750 # 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 31 # Segment length 121.867194 meters # Minimum depth: 772.109746 meters looking forward 100.000000 meters along route # Maximum depth: 773.268511 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 722.109746 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.810118; longitude = -136.069856; duration = 487; initialDepth = 719.244583; finalDepth = 722.109746; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.092233 # Actual altitude: 52.092233 # Commanded vehicle depth: 722.109746 # Seafloor depth: -773.268511 # 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 31 # Segment length 121.867198 meters # Minimum depth: 769.244583 meters looking forward 100.000000 meters along route # Maximum depth: 771.617887 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.244583 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.809026; longitude = -136.069676; duration = 487; initialDepth = 717.461542; finalDepth = 719.244583; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.373304 # Actual altitude: 52.373304 # Commanded vehicle depth: 719.244583 # Seafloor depth: -771.617887 # 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 31 # Segment length 121.867203 meters # Minimum depth: 767.461542 meters looking forward 100.000000 meters along route # Maximum depth: 768.485781 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.461542 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.807935; longitude = -136.069497; duration = 487; initialDepth = 713.153559; finalDepth = 717.461542; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.373304 # Actual altitude: 52.373304 # Commanded vehicle depth: 717.461542 # Seafloor depth: -768.485781 # 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 31 # Segment length 121.867207 meters # Minimum depth: 763.153559 meters looking forward 100.000000 meters along route # Maximum depth: 766.662721 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.153559 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.806844; longitude = -136.069317; duration = 487; initialDepth = 714.759188; finalDepth = 713.153559; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.5091620000001 # Actual altitude: 53.5091620000001 # Commanded vehicle depth: 713.153559 # Seafloor depth: -766.662721 # 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 31 # Segment length 121.867212 meters # Minimum depth: 764.759188 meters looking forward 100.000000 meters along route # Maximum depth: 768.587551 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.759188 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.805753; longitude = -136.069138; duration = 487; initialDepth = 719.532903; finalDepth = 714.759188; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.5091620000001 # Actual altitude: 53.5091620000001 # Commanded vehicle depth: 714.759188 # Seafloor depth: -764.759188 # 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 31 # Segment length 121.867216 meters # Minimum depth: 769.532903 meters looking forward 100.000000 meters along route # Maximum depth: 771.274989 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.532903 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.804662; longitude = -136.068958; duration = 487; initialDepth = 720.742760; finalDepth = 719.532903; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 719.532903 # Seafloor depth: -769.532903 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 121.867220 meters # Minimum depth: 770.742760 meters looking forward 100.000000 meters along route # Maximum depth: 771.212181 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.742760 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.803571; longitude = -136.068779; duration = 487; initialDepth = 720.817892; finalDepth = 720.742760; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.469421 # Actual altitude: 50.469421 # Commanded vehicle depth: 720.74276 # Seafloor depth: -771.212181 # 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 31 # Segment length 121.867225 meters # Minimum depth: 770.817892 meters looking forward 100.000000 meters along route # Maximum depth: 771.289866 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.817892 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.802480; longitude = -136.068599; duration = 487; initialDepth = 721.310357; finalDepth = 720.817892; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4719739999999 # Actual altitude: 50.4719739999999 # Commanded vehicle depth: 720.817892 # Seafloor depth: -771.289866 # 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 31 # Segment length 121.867229 meters # Minimum depth: 771.310357 meters looking forward 100.000000 meters along route # Maximum depth: 773.258240 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.310357 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.801389; longitude = -136.068420; duration = 487; initialDepth = 724.430244; finalDepth = 721.310357; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4719739999999 # Actual altitude: 50.4719739999999 # Commanded vehicle depth: 721.310357 # Seafloor depth: -771.310357 # 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 31 # Segment length 121.867234 meters # Minimum depth: 774.430244 meters looking forward 100.000000 meters along route # Maximum depth: 777.110886 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 724.430244 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.800298; longitude = -136.068240; duration = 487; initialDepth = 728.983266; finalDepth = 724.430244; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.661703 # Actual altitude: 51.661703 # Commanded vehicle depth: 724.430244 # Seafloor depth: -776.091947 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 121.867238 meters # Minimum depth: 778.983266 meters looking forward 100.000000 meters along route # Maximum depth: 782.811683 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 728.983266 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.799207; longitude = -136.068061; duration = 487; initialDepth = 733.218802; finalDepth = 728.983266; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.661703 # Actual altitude: 51.661703 # Commanded vehicle depth: 728.983266 # Seafloor depth: -779.075206 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 121.867242 meters # Minimum depth: 783.218802 meters looking forward 100.000000 meters along route # Maximum depth: 783.595366 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 733.218802 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.798116; longitude = -136.067882; duration = 487; initialDepth = 732.830236; finalDepth = 733.218802; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.327096 # Actual altitude: 50.327096 # Commanded vehicle depth: 733.218802 # Seafloor depth: -783.545898 # 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 31 # Segment length 121.867247 meters # Minimum depth: 782.830236 meters looking forward 100.000000 meters along route # Maximum depth: 783.198749 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 732.830236 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.797024; longitude = -136.067702; duration = 487; initialDepth = 732.797234; finalDepth = 732.830236; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.368513 # Actual altitude: 50.368513 # Commanded vehicle depth: 732.830236 # Seafloor depth: -783.198749 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 121.867251 meters # Minimum depth: 782.797234 meters looking forward 100.000000 meters along route # Maximum depth: 782.978818 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 732.797234 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795933; longitude = -136.067523; duration = 487; initialDepth = 732.299544; finalDepth = 732.797234; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.368513 # Actual altitude: 50.368513 # Commanded vehicle depth: 732.797234 # Seafloor depth: -782.797234 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 121.867256 meters # Minimum depth: 782.299544 meters looking forward 100.000000 meters along route # Maximum depth: 783.020295 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 732.299544 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794842; longitude = -136.067343; duration = 487; initialDepth = 730.393882; finalDepth = 732.299544; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.706757 # Actual altitude: 50.706757 # Commanded vehicle depth: 732.299544 # Seafloor depth: -783.006301 # 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 31 # Segment length 121.867260 meters # Minimum depth: 780.393882 meters looking forward 100.000000 meters along route # Maximum depth: 781.968773 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 730.393882 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.793751; longitude = -136.067164; duration = 487; initialDepth = 723.412899; finalDepth = 730.393882; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5748910000001 # Actual altitude: 51.5748910000001 # Commanded vehicle depth: 730.393882 # Seafloor depth: -781.968773 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 121.867265 meters # Minimum depth: 773.412899 meters looking forward 100.000000 meters along route # Maximum depth: 778.764084 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 723.412899 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.792660; longitude = -136.066984; duration = 487; initialDepth = 709.727860; finalDepth = 723.412899; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.351185 # Actual altitude: 55.351185 # Commanded vehicle depth: 723.412899 # Seafloor depth: -778.764084 # 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 31 # Segment length 121.867269 meters # Minimum depth: 759.727860 meters looking forward 100.000000 meters along route # Maximum depth: 772.580938 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.727860 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.791569; longitude = -136.066805; duration = 487; initialDepth = 702.404508; finalDepth = 709.727860; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.853078 # Actual altitude: 62.853078 # Commanded vehicle depth: 709.72786 # Seafloor depth: -772.580938 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 121.867273 meters # Minimum depth: 752.404508 meters looking forward 100.000000 meters along route # Maximum depth: 755.594187 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 702.404508 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.790478; longitude = -136.066625; duration = 487; initialDepth = 698.144528; finalDepth = 702.404508; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.853078 # Actual altitude: 62.853078 # Commanded vehicle depth: 702.404508 # Seafloor depth: -755.594187 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 121.867278 meters # Minimum depth: 748.144528 meters looking forward 100.000000 meters along route # Maximum depth: 751.568784 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.144528 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.789387; longitude = -136.066446; duration = 487; initialDepth = 695.364671; finalDepth = 698.144528; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.424256 # Actual altitude: 53.424256 # Commanded vehicle depth: 698.144528 # Seafloor depth: -751.568784 # 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 31 # Segment length 121.867282 meters # Minimum depth: 745.364671 meters looking forward 100.000000 meters along route # Maximum depth: 748.079585 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.364671 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.788296; longitude = -136.066266; duration = 487; initialDepth = 691.833552; finalDepth = 695.364671; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.424256 # Actual altitude: 53.424256 # Commanded vehicle depth: 695.364671 # Seafloor depth: -748.079585 # 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 31 # Segment length 121.867287 meters # Minimum depth: 741.833552 meters looking forward 100.000000 meters along route # Maximum depth: 744.590278 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.833552 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.787205; longitude = -136.066087; duration = 487; initialDepth = 687.673985; finalDepth = 691.833552; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.756726 # Actual altitude: 52.756726 # Commanded vehicle depth: 691.833552 # Seafloor depth: -744.590278 # 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 31 # Segment length 123.621063 meters # Minimum depth: 737.673985 meters looking forward 100.000000 meters along route # Maximum depth: 740.961067 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.673985 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.786113; longitude = -136.065907; duration = 494; initialDepth = 685.402814; finalDepth = 687.673985; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2870819999999 # Actual altitude: 53.2870819999999 # Commanded vehicle depth: 687.673985 # Seafloor depth: -740.961067 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 120.113524 meters # Minimum depth: 735.402814 meters looking forward 100.000000 meters along route # Maximum depth: 737.619721 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.402814 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785007; longitude = -136.065725; duration = 480; initialDepth = 682.663328; finalDepth = 685.402814; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2870819999999 # Actual altitude: 53.2870819999999 # Commanded vehicle depth: 685.402814 # Seafloor depth: -737.619721 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 109.492919 meters # Minimum depth: 732.663328 meters looking forward 100.000000 meters along route # Maximum depth: 734.263416 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 682.663328 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.783931; longitude = -136.065548; duration = 437; initialDepth = 682.305847; finalDepth = 682.663328; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.216907 # Actual altitude: 52.216907 # Commanded vehicle depth: 682.663328 # Seafloor depth: -734.263416 # 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; } # ####################################################### # # 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 149.995646 meters # Minimum depth: 732.305847 meters looking forward 100.000000 meters along route # Maximum depth: 734.208323 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 682.305847 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.782951; longitude = -136.065387; duration = 599; # abortOnTimeout = True; initialDepth = 684.208323; finalDepth = 682.305847; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.600088 # Actual altitude: 51.600088 # Commanded vehicle depth: 682.305847 # Seafloor depth: -732.305847 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 87.180010 meters # Minimum depth: 734.208323 meters looking forward 100.000000 meters along route # Maximum depth: 735.310922 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 684.208323 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.782878; longitude = -136.069464; duration = 348; # abortOnTimeout = True; initialDepth = 685.892713; finalDepth = 684.208323; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1789150000001 # Actual altitude: 50.1789150000001 # Commanded vehicle depth: 684.208323 # Seafloor depth: -734.387238 # 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 29 # Segment length 121.867772 meters # Minimum depth: 735.892713 meters looking forward 100.000000 meters along route # Maximum depth: 737.693222 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.892713 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.783659; longitude = -136.069593; duration = 487; initialDepth = 688.366872; finalDepth = 685.892713; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1789150000001 # Actual altitude: 50.1789150000001 # Commanded vehicle depth: 685.892713 # Seafloor depth: -735.892713 # 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 29 # Segment length 121.867767 meters # Minimum depth: 738.366872 meters looking forward 100.000000 meters along route # Maximum depth: 740.601130 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.366872 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.784750; longitude = -136.069772; duration = 487; initialDepth = 691.405905; finalDepth = 688.366872; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 688.366872 # Seafloor depth: -738.366872 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 121.867763 meters # Minimum depth: 741.405905 meters looking forward 100.000000 meters along route # Maximum depth: 743.569805 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.405905 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785841; longitude = -136.069952; duration = 487; initialDepth = 694.161871; finalDepth = 691.405905; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 691.405905 # Seafloor depth: -741.405905 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 121.867759 meters # Minimum depth: 744.161871 meters looking forward 100.000000 meters along route # Maximum depth: 746.868032 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.161871 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.786932; longitude = -136.070132; duration = 487; initialDepth = 697.839838; finalDepth = 694.161871; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 694.161871 # Seafloor depth: -744.161871 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 121.867754 meters # Minimum depth: 747.839838 meters looking forward 100.000000 meters along route # Maximum depth: 750.548191 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.839838 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.788023; longitude = -136.070311; duration = 487; initialDepth = 701.662640; finalDepth = 697.839838; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 697.839838 # Seafloor depth: -747.839838 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 121.867749 meters # Minimum depth: 751.662640 meters looking forward 100.000000 meters along route # Maximum depth: 756.304497 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 701.662640 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.789114; longitude = -136.070491; duration = 487; initialDepth = 710.373717; finalDepth = 701.662640; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 701.66264 # Seafloor depth: -751.662640 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 121.867745 meters # Minimum depth: 760.373717 meters looking forward 100.000000 meters along route # Maximum depth: 771.477554 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.373717 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.790205; longitude = -136.070671; duration = 487; initialDepth = 724.021192; finalDepth = 710.373717; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 710.373717 # Seafloor depth: -760.373717 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 121.867741 meters # Minimum depth: 774.021192 meters looking forward 100.000000 meters along route # Maximum depth: 777.786134 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 724.021192 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.791296; longitude = -136.070851; duration = 487; initialDepth = 729.086487; finalDepth = 724.021192; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 724.021192 # Seafloor depth: -774.021192 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 121.867736 meters # Minimum depth: 779.086487 meters looking forward 100.000000 meters along route # Maximum depth: 782.383601 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 729.086487 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.792387; longitude = -136.071030; duration = 487; initialDepth = 732.699317; finalDepth = 729.086487; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 729.086487 # Seafloor depth: -779.086487 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 121.867732 meters # Minimum depth: 782.699317 meters looking forward 100.000000 meters along route # Maximum depth: 783.283849 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 732.699317 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.793478; longitude = -136.071210; duration = 487; initialDepth = 733.010888; finalDepth = 732.699317; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 732.699317 # Seafloor depth: -782.699317 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 121.867727 meters # Minimum depth: 783.010888 meters looking forward 100.000000 meters along route # Maximum depth: 783.488022 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 733.010888 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794569; longitude = -136.071390; duration = 487; initialDepth = 732.445960; finalDepth = 733.010888; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.477134 # Actual altitude: 50.477134 # Commanded vehicle depth: 733.010888 # Seafloor depth: -783.488022 # 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 29 # Segment length 121.867723 meters # Minimum depth: 782.445960 meters looking forward 100.000000 meters along route # Maximum depth: 782.894249 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 732.445960 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795661; longitude = -136.071569; duration = 487; initialDepth = 732.422062; finalDepth = 732.445960; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.477134 # Actual altitude: 50.477134 # Commanded vehicle depth: 732.44596 # Seafloor depth: -782.894249 # 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 29 # Segment length 121.867718 meters # Minimum depth: 782.422062 meters looking forward 100.000000 meters along route # Maximum depth: 782.579929 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 732.422062 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.796752; longitude = -136.071749; duration = 487; initialDepth = 729.780284; finalDepth = 732.422062; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4482889999999 # Actual altitude: 50.4482889999999 # Commanded vehicle depth: 732.422062 # Seafloor depth: -782.499216 # 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 29 # Segment length 121.867714 meters # Minimum depth: 779.780284 meters looking forward 100.000000 meters along route # Maximum depth: 782.728664 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 729.780284 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.797843; longitude = -136.071929; duration = 487; initialDepth = 727.150868; finalDepth = 729.780284; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9483799999999 # Actual altitude: 52.9483799999999 # Commanded vehicle depth: 729.780284 # Seafloor depth: -782.728664 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 110.668240 meters # Minimum depth: 777.150868 meters looking forward 100.000000 meters along route # Maximum depth: 779.761990 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 727.150868 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.798934; longitude = -136.072109; duration = 442; initialDepth = 726.355377; finalDepth = 727.150868; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9483799999999 # Actual altitude: 52.9483799999999 # Commanded vehicle depth: 727.150868 # Seafloor depth: -777.150868 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 102.600249 meters # Minimum depth: 776.355377 meters looking forward 100.000000 meters along route # Maximum depth: 776.873163 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 726.355377 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.799925; longitude = -136.072272; duration = 410; initialDepth = 723.717887; finalDepth = 726.355377; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.517786 # Actual altitude: 50.517786 # Commanded vehicle depth: 726.355377 # Seafloor depth: -776.873163 # 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 29 # Segment length 121.867701 meters # Minimum depth: 773.717887 meters looking forward 100.000000 meters along route # Maximum depth: 775.380055 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 723.717887 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.800843; longitude = -136.072423; duration = 487; initialDepth = 720.948147; finalDepth = 723.717887; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.662168 # Actual altitude: 51.662168 # Commanded vehicle depth: 723.717887 # Seafloor depth: -775.380055 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 121.867698 meters # Minimum depth: 770.948147 meters looking forward 100.000000 meters along route # Maximum depth: 771.384133 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.948147 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.801934; longitude = -136.072603; duration = 487; initialDepth = 721.315708; finalDepth = 720.948147; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.662168 # Actual altitude: 51.662168 # Commanded vehicle depth: 720.948147 # Seafloor depth: -771.384133 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 121.867692 meters # Minimum depth: 771.315708 meters looking forward 100.000000 meters along route # Maximum depth: 771.763186 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.315708 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.803025; longitude = -136.072782; duration = 487; initialDepth = 720.584598; finalDepth = 721.315708; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4359860000001 # Actual altitude: 50.4359860000001 # Commanded vehicle depth: 721.315708 # Seafloor depth: -771.536453 # 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 29 # Segment length 121.867688 meters # Minimum depth: 770.584598 meters looking forward 100.000000 meters along route # Maximum depth: 771.473437 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.584598 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.804117; longitude = -136.072962; duration = 487; initialDepth = 719.713213; finalDepth = 720.584598; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.888839 # Actual altitude: 50.888839 # Commanded vehicle depth: 720.584598 # Seafloor depth: -771.473437 # 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 29 # Segment length 121.867684 meters # Minimum depth: 769.713213 meters looking forward 100.000000 meters along route # Maximum depth: 771.170251 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.713213 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.805208; longitude = -136.073142; duration = 487; initialDepth = 722.598103; finalDepth = 719.713213; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.888839 # Actual altitude: 50.888839 # Commanded vehicle depth: 719.713213 # Seafloor depth: -770.543554 # 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 29 # Segment length 121.867679 meters # Minimum depth: 772.598103 meters looking forward 100.000000 meters along route # Maximum depth: 774.792569 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 722.598103 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.806299; longitude = -136.073322; duration = 487; initialDepth = 724.337529; finalDepth = 722.598103; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.830341 # Actual altitude: 50.830341 # Commanded vehicle depth: 722.598103 # Seafloor depth: -772.598103 # 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 29 # Segment length 121.867675 meters # Minimum depth: 774.337529 meters looking forward 100.000000 meters along route # Maximum depth: 774.904901 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 724.337529 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.807390; longitude = -136.073501; duration = 487; initialDepth = 724.390893; finalDepth = 724.337529; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 724.337529 # Seafloor depth: -774.337529 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 121.867670 meters # Minimum depth: 774.390893 meters looking forward 100.000000 meters along route # Maximum depth: 775.713037 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 724.390893 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.808481; longitude = -136.073681; duration = 487; initialDepth = 726.293088; finalDepth = 724.390893; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 724.390893 # Seafloor depth: -774.390893 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 121.867666 meters # Minimum depth: 776.293088 meters looking forward 100.000000 meters along route # Maximum depth: 777.291510 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 726.293088 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.809572; longitude = -136.073861; duration = 487; initialDepth = 727.496803; finalDepth = 726.293088; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 726.293088 # Seafloor depth: -776.293088 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 121.867661 meters # Minimum depth: 777.496803 meters looking forward 100.000000 meters along route # Maximum depth: 779.014277 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 727.496803 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.810663; longitude = -136.074040; duration = 487; initialDepth = 729.235249; finalDepth = 727.496803; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 727.496803 # Seafloor depth: -777.496803 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 121.867657 meters # Minimum depth: 779.235249 meters looking forward 100.000000 meters along route # Maximum depth: 779.917984 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 729.235249 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.811754; longitude = -136.074220; duration = 487; initialDepth = 728.952379; finalDepth = 729.235249; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.064554 # Actual altitude: 50.064554 # Commanded vehicle depth: 729.235249 # Seafloor depth: -779.299803 # 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 29 # Segment length 121.867653 meters # Minimum depth: 778.952379 meters looking forward 100.000000 meters along route # Maximum depth: 780.580987 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 728.952379 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.812845; longitude = -136.074400; duration = 487; initialDepth = 730.731340; finalDepth = 728.952379; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.064554 # Actual altitude: 50.064554 # Commanded vehicle depth: 728.952379 # Seafloor depth: -778.952379 # 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 29 # Segment length 121.867648 meters # Minimum depth: 780.731340 meters looking forward 100.000000 meters along route # Maximum depth: 781.909198 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 730.731340 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.813936; longitude = -136.074580; duration = 487; initialDepth = 732.362814; finalDepth = 730.731340; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 730.73134 # Seafloor depth: -780.731340 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 115.103442 meters # Minimum depth: 782.362814 meters looking forward 100.000000 meters along route # Maximum depth: 783.868431 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 732.362814 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.815027; longitude = -136.074759; duration = 460; initialDepth = 733.911682; finalDepth = 732.362814; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 732.362814 # Seafloor depth: -782.362814 # 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 28 # Segment length 150.004280 meters # Minimum depth: 783.911682 meters looking forward 100.000000 meters along route # Maximum depth: 786.477218 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 733.911682 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.816058; longitude = -136.074929; duration = 600; # abortOnTimeout = True; initialDepth = 734.132677; finalDepth = 733.911682; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 733.911682 # Seafloor depth: -783.911682 # 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 27 # Segment length 167.884321 meters # Minimum depth: 784.132677 meters looking forward 100.000000 meters along route # Maximum depth: 786.551163 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 734.132677 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.815985; longitude = -136.079013; duration = 671; # abortOnTimeout = True; initialDepth = 732.588079; finalDepth = 734.132677; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.418486 # Actual altitude: 52.418486 # Commanded vehicle depth: 734.132677 # Seafloor depth: -786.551163 # 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 27 # Segment length 121.868125 meters # Minimum depth: 782.588079 meters looking forward 100.000000 meters along route # Maximum depth: 783.862337 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 732.588079 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.814482; longitude = -136.078765; duration = 487; initialDepth = 731.604490; finalDepth = 732.588079; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.418486 # Actual altitude: 52.418486 # Commanded vehicle depth: 732.588079 # Seafloor depth: -783.862337 # 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 27 # Segment length 121.868129 meters # Minimum depth: 781.604490 meters looking forward 100.000000 meters along route # Maximum depth: 782.525378 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 731.604490 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.813391; longitude = -136.078585; duration = 487; initialDepth = 731.688287; finalDepth = 731.604490; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.274258 # Actual altitude: 51.274258 # Commanded vehicle depth: 731.60449 # Seafloor depth: -782.183502 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 121.868134 meters # Minimum depth: 781.688287 meters looking forward 100.000000 meters along route # Maximum depth: 782.345504 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 731.688287 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.812300; longitude = -136.078405; duration = 487; initialDepth = 731.011708; finalDepth = 731.688287; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6572170000001 # Actual altitude: 50.6572170000001 # Commanded vehicle depth: 731.688287 # Seafloor depth: -782.345504 # 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 27 # Segment length 121.868138 meters # Minimum depth: 781.011708 meters looking forward 100.000000 meters along route # Maximum depth: 781.727845 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 731.011708 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.811209; longitude = -136.078225; duration = 487; initialDepth = 729.904104; finalDepth = 731.011708; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.716137 # Actual altitude: 50.716137 # Commanded vehicle depth: 731.011708 # Seafloor depth: -781.727845 # 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 27 # Segment length 121.868143 meters # Minimum depth: 779.904104 meters looking forward 100.000000 meters along route # Maximum depth: 780.902968 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 729.904104 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.810118; longitude = -136.078045; duration = 487; initialDepth = 730.213537; finalDepth = 729.904104; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.998864 # Actual altitude: 50.998864 # Commanded vehicle depth: 729.904104 # Seafloor depth: -780.902968 # 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 27 # Segment length 121.868147 meters # Minimum depth: 780.213537 meters looking forward 100.000000 meters along route # Maximum depth: 780.594712 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 730.213537 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.809026; longitude = -136.077865; duration = 487; initialDepth = 730.447493; finalDepth = 730.213537; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.998864 # Actual altitude: 50.998864 # Commanded vehicle depth: 730.213537 # Seafloor depth: -780.594712 # 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 27 # Segment length 121.868152 meters # Minimum depth: 780.447493 meters looking forward 100.000000 meters along route # Maximum depth: 781.163064 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 730.447493 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.807935; longitude = -136.077685; duration = 487; initialDepth = 726.604035; finalDepth = 730.447493; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.381175 # Actual altitude: 50.381175 # Commanded vehicle depth: 730.447493 # Seafloor depth: -780.447493 # 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 27 # Segment length 121.868157 meters # Minimum depth: 776.604035 meters looking forward 100.000000 meters along route # Maximum depth: 781.715683 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 726.604035 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.806844; longitude = -136.077506; duration = 487; initialDepth = 724.062192; finalDepth = 726.604035; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.1116480000001 # Actual altitude: 55.1116480000001 # Commanded vehicle depth: 726.604035 # Seafloor depth: -781.715683 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 121.868161 meters # Minimum depth: 774.062192 meters looking forward 100.000000 meters along route # Maximum depth: 775.255260 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 724.062192 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.805753; longitude = -136.077326; duration = 487; initialDepth = 723.306669; finalDepth = 724.062192; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.1116480000001 # Actual altitude: 55.1116480000001 # Commanded vehicle depth: 724.062192 # Seafloor depth: -775.083010 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 121.868165 meters # Minimum depth: 773.306669 meters looking forward 100.000000 meters along route # Maximum depth: 774.494838 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 723.306669 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.804662; longitude = -136.077146; duration = 487; initialDepth = 723.755334; finalDepth = 723.306669; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.020818 # Actual altitude: 51.020818 # Commanded vehicle depth: 723.306669 # Seafloor depth: -773.306669 # 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 27 # Segment length 121.868170 meters # Minimum depth: 773.755334 meters looking forward 100.000000 meters along route # Maximum depth: 775.204289 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 723.755334 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.803571; longitude = -136.076966; duration = 487; initialDepth = 725.082626; finalDepth = 723.755334; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.122119 # Actual altitude: 51.122119 # Commanded vehicle depth: 723.755334 # Seafloor depth: -774.877453 # 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 27 # Segment length 121.868175 meters # Minimum depth: 775.082626 meters looking forward 100.000000 meters along route # Maximum depth: 777.216322 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 725.082626 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.802480; longitude = -136.076786; duration = 487; initialDepth = 727.905349; finalDepth = 725.082626; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.122119 # Actual altitude: 51.122119 # Commanded vehicle depth: 725.082626 # Seafloor depth: -775.082626 # 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 27 # Segment length 121.868179 meters # Minimum depth: 777.905349 meters looking forward 100.000000 meters along route # Maximum depth: 778.696243 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 727.905349 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.801389; longitude = -136.076606; duration = 487; initialDepth = 729.207342; finalDepth = 727.905349; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 727.905349 # Seafloor depth: -777.905349 # 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 27 # Segment length 121.868183 meters # Minimum depth: 779.207342 meters looking forward 100.000000 meters along route # Maximum depth: 779.838394 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 729.207342 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.800298; longitude = -136.076426; duration = 487; initialDepth = 730.223121; finalDepth = 729.207342; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 729.207342 # Seafloor depth: -779.207342 # 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 27 # Segment length 121.868189 meters # Minimum depth: 780.223121 meters looking forward 100.000000 meters along route # Maximum depth: 781.191879 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 730.223121 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.799207; longitude = -136.076246; duration = 487; initialDepth = 730.611334; finalDepth = 730.223121; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 730.223121 # Seafloor depth: -780.223121 # 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 27 # Segment length 121.868192 meters # Minimum depth: 780.611334 meters looking forward 100.000000 meters along route # Maximum depth: 781.782406 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 730.611334 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.798116; longitude = -136.076066; duration = 487; initialDepth = 732.090957; finalDepth = 730.611334; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 730.611334 # Seafloor depth: -780.611334 # 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 27 # Segment length 121.868197 meters # Minimum depth: 782.090957 meters looking forward 100.000000 meters along route # Maximum depth: 782.387953 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 732.090957 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.797024; longitude = -136.075886; duration = 487; initialDepth = 732.204562; finalDepth = 732.090957; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.060162 # Actual altitude: 50.060162 # Commanded vehicle depth: 732.090957 # Seafloor depth: -782.151119 # 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 27 # Segment length 121.868202 meters # Minimum depth: 782.204562 meters looking forward 100.000000 meters along route # Maximum depth: 782.626390 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 732.204562 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795933; longitude = -136.075706; duration = 487; initialDepth = 732.853818; finalDepth = 732.204562; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.060162 # Actual altitude: 50.060162 # Commanded vehicle depth: 732.204562 # Seafloor depth: -782.263272 # 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 27 # Segment length 121.868206 meters # Minimum depth: 782.853818 meters looking forward 100.000000 meters along route # Maximum depth: 783.543218 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 732.853818 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794842; longitude = -136.075526; duration = 487; initialDepth = 732.009890; finalDepth = 732.853818; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.05871 # Actual altitude: 50.05871 # Commanded vehicle depth: 732.853818 # Seafloor depth: -782.853818 # 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 27 # Segment length 121.868211 meters # Minimum depth: 782.009890 meters looking forward 100.000000 meters along route # Maximum depth: 783.005146 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 732.009890 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.793751; longitude = -136.075346; duration = 487; initialDepth = 729.052493; finalDepth = 732.009890; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9952559999999 # Actual altitude: 50.9952559999999 # Commanded vehicle depth: 732.00989 # Seafloor depth: -783.005146 # 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 27 # Segment length 121.868215 meters # Minimum depth: 779.052493 meters looking forward 100.000000 meters along route # Maximum depth: 781.888455 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 729.052493 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.792660; longitude = -136.075166; duration = 487; initialDepth = 715.910403; finalDepth = 729.052493; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.835962 # Actual altitude: 52.835962 # Commanded vehicle depth: 729.052493 # Seafloor depth: -781.888455 # 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 27 # Segment length 121.868220 meters # Minimum depth: 765.910403 meters looking forward 100.000000 meters along route # Maximum depth: 778.547570 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.910403 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.791569; longitude = -136.074986; duration = 487; initialDepth = 708.683940; finalDepth = 715.910403; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.637167 # Actual altitude: 62.637167 # Commanded vehicle depth: 715.910403 # Seafloor depth: -778.547570 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 121.868224 meters # Minimum depth: 758.683940 meters looking forward 100.000000 meters along route # Maximum depth: 763.470263 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 708.683940 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.790478; longitude = -136.074806; duration = 487; initialDepth = 700.797971; finalDepth = 708.683940; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.637167 # Actual altitude: 62.637167 # Commanded vehicle depth: 708.68394 # Seafloor depth: -763.470263 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 121.868229 meters # Minimum depth: 750.797971 meters looking forward 100.000000 meters along route # Maximum depth: 753.858028 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.797971 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.789387; longitude = -136.074626; duration = 487; initialDepth = 698.100562; finalDepth = 700.797971; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.786323 # Actual altitude: 54.786323 # Commanded vehicle depth: 700.797971 # Seafloor depth: -753.858028 # 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 27 # Segment length 121.868233 meters # Minimum depth: 748.100562 meters looking forward 100.000000 meters along route # Maximum depth: 750.664437 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.100562 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.788296; longitude = -136.074447; duration = 487; initialDepth = 694.597347; finalDepth = 698.100562; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.060057 # Actual altitude: 53.060057 # Commanded vehicle depth: 698.100562 # Seafloor depth: -750.664437 # 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 27 # Segment length 121.868238 meters # Minimum depth: 744.597347 meters looking forward 100.000000 meters along route # Maximum depth: 747.282567 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.597347 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.787205; longitude = -136.074267; duration = 487; initialDepth = 690.878868; finalDepth = 694.597347; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.68522 # Actual altitude: 52.68522 # Commanded vehicle depth: 694.597347 # Seafloor depth: -747.282567 # 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 27 # Segment length 121.868242 meters # Minimum depth: 740.878868 meters looking forward 100.000000 meters along route # Maximum depth: 743.734787 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.878868 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.786113; longitude = -136.074087; duration = 487; initialDepth = 689.316514; finalDepth = 690.878868; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.855919 # Actual altitude: 52.855919 # Commanded vehicle depth: 690.878868 # Seafloor depth: -743.734787 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 121.868247 meters # Minimum depth: 739.316514 meters looking forward 100.000000 meters along route # Maximum depth: 740.854851 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.316514 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785022; longitude = -136.073907; duration = 487; initialDepth = 686.224697; finalDepth = 689.316514; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.855919 # Actual altitude: 52.855919 # Commanded vehicle depth: 689.316514 # Seafloor depth: -740.854851 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 125.801052 meters # Minimum depth: 736.224697 meters looking forward 100.000000 meters along route # Maximum depth: 738.748812 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 686.224697 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.783931; longitude = -136.073727; duration = 503; initialDepth = 685.588319; finalDepth = 686.224697; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.5241150000001 # Actual altitude: 52.5241150000001 # Commanded vehicle depth: 686.224697 # Seafloor depth: -738.748812 # 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; } # ####################################################### # # 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 149.990766 meters # Minimum depth: 735.588319 meters looking forward 100.000000 meters along route # Maximum depth: 736.078928 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.588319 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.782805; longitude = -136.073541; duration = 599; # abortOnTimeout = True; initialDepth = 685.988052; finalDepth = 685.588319; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.5241150000001 # Actual altitude: 52.5241150000001 # Commanded vehicle depth: 685.588319 # Seafloor depth: -735.918594 # 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; } # ####################################################### # # 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 164.310717 meters # Minimum depth: 735.988052 meters looking forward 100.000000 meters along route # Maximum depth: 738.701694 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.988052 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.782733; longitude = -136.077618; duration = 657; # abortOnTimeout = True; initialDepth = 689.230767; finalDepth = 685.988052; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.330275 # Actual altitude: 50.330275 # Commanded vehicle depth: 685.988052 # Seafloor depth: -735.988052 # 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 25 # Segment length 121.868733 meters # Minimum depth: 739.230767 meters looking forward 100.000000 meters along route # Maximum depth: 741.156257 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.230767 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.784204; longitude = -136.077861; duration = 487; initialDepth = 691.942561; finalDepth = 689.230767; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 689.230767 # Seafloor depth: -739.230767 # 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 25 # Segment length 121.868729 meters # Minimum depth: 741.942561 meters looking forward 100.000000 meters along route # Maximum depth: 744.219755 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.942561 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785295; longitude = -136.078041; duration = 487; initialDepth = 695.248778; finalDepth = 691.942561; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 691.942561 # Seafloor depth: -741.942561 # 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 25 # Segment length 121.868724 meters # Minimum depth: 745.248778 meters looking forward 100.000000 meters along route # Maximum depth: 748.257059 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.248778 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.786386; longitude = -136.078221; duration = 487; initialDepth = 699.254546; finalDepth = 695.248778; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 695.248778 # Seafloor depth: -745.248778 # 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 25 # Segment length 121.868719 meters # Minimum depth: 749.254546 meters looking forward 100.000000 meters along route # Maximum depth: 751.834413 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.254546 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.787477; longitude = -136.078401; duration = 487; initialDepth = 702.500285; finalDepth = 699.254546; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 699.254546 # Seafloor depth: -749.254546 # 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 25 # Segment length 121.868715 meters # Minimum depth: 752.500285 meters looking forward 100.000000 meters along route # Maximum depth: 761.132369 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 702.500285 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.788568; longitude = -136.078582; duration = 487; initialDepth = 711.804594; finalDepth = 702.500285; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 702.500285 # Seafloor depth: -752.500285 # 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 25 # Segment length 121.868710 meters # Minimum depth: 761.804594 meters looking forward 100.000000 meters along route # Maximum depth: 773.039286 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.804594 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.789660; longitude = -136.078762; duration = 487; initialDepth = 725.066288; finalDepth = 711.804594; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 711.804594 # Seafloor depth: -761.804594 # 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 25 # Segment length 121.868706 meters # Minimum depth: 775.066288 meters looking forward 100.000000 meters along route # Maximum depth: 779.869304 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 725.066288 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.790751; longitude = -136.078942; duration = 487; initialDepth = 730.819373; finalDepth = 725.066288; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 725.066288 # Seafloor depth: -775.066288 # 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 25 # Segment length 121.868701 meters # Minimum depth: 780.819373 meters looking forward 100.000000 meters along route # Maximum depth: 782.219225 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 730.819373 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.791842; longitude = -136.079122; duration = 487; initialDepth = 731.947839; finalDepth = 730.819373; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 730.819373 # Seafloor depth: -780.819373 # 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 25 # Segment length 121.868697 meters # Minimum depth: 781.947839 meters looking forward 100.000000 meters along route # Maximum depth: 782.308315 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 731.947839 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.792933; longitude = -136.079302; duration = 487; initialDepth = 732.042779; finalDepth = 731.947839; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3604759999999 # Actual altitude: 50.3604759999999 # Commanded vehicle depth: 731.947839 # Seafloor depth: -782.308315 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 121.868692 meters # Minimum depth: 782.042779 meters looking forward 100.000000 meters along route # Maximum depth: 782.354664 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 732.042779 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794024; longitude = -136.079483; duration = 487; initialDepth = 730.796139; finalDepth = 732.042779; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3604759999999 # Actual altitude: 50.3604759999999 # Commanded vehicle depth: 732.042779 # Seafloor depth: -782.100372 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 121.868687 meters # Minimum depth: 780.796139 meters looking forward 100.000000 meters along route # Maximum depth: 781.847019 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 730.796139 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795115; longitude = -136.079663; duration = 487; initialDepth = 730.237553; finalDepth = 730.796139; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.05088 # Actual altitude: 51.05088 # Commanded vehicle depth: 730.796139 # Seafloor depth: -781.847019 # 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 25 # Segment length 121.868683 meters # Minimum depth: 780.237553 meters looking forward 100.000000 meters along route # Maximum depth: 781.217340 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 730.237553 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.796206; longitude = -136.079843; duration = 487; initialDepth = 728.911331; finalDepth = 730.237553; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.05088 # Actual altitude: 51.05088 # Commanded vehicle depth: 730.237553 # Seafloor depth: -781.217340 # 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 25 # Segment length 121.868678 meters # Minimum depth: 778.911331 meters looking forward 100.000000 meters along route # Maximum depth: 779.441521 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 728.911331 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.797297; longitude = -136.080023; duration = 487; initialDepth = 728.508918; finalDepth = 728.911331; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.979787 # Actual altitude: 50.979787 # Commanded vehicle depth: 728.911331 # Seafloor depth: -779.441521 # 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 25 # Segment length 121.868674 meters # Minimum depth: 778.508918 meters looking forward 100.000000 meters along route # Maximum depth: 778.811551 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 728.508918 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.798388; longitude = -136.080203; duration = 487; initialDepth = 727.483932; finalDepth = 728.508918; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5301899999999 # Actual altitude: 50.5301899999999 # Commanded vehicle depth: 728.508918 # Seafloor depth: -778.811551 # 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 25 # Segment length 121.868669 meters # Minimum depth: 777.483932 meters looking forward 100.000000 meters along route # Maximum depth: 778.235753 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 727.483932 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.799479; longitude = -136.080383; duration = 487; initialDepth = 726.116687; finalDepth = 727.483932; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7518210000001 # Actual altitude: 50.7518210000001 # Commanded vehicle depth: 727.483932 # Seafloor depth: -778.235753 # 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 25 # Segment length 121.868665 meters # Minimum depth: 776.116687 meters looking forward 100.000000 meters along route # Maximum depth: 777.526525 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 726.116687 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.800570; longitude = -136.080564; duration = 487; initialDepth = 725.943847; finalDepth = 726.116687; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.409838 # Actual altitude: 51.409838 # Commanded vehicle depth: 726.116687 # Seafloor depth: -777.526525 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 121.868660 meters # Minimum depth: 775.943847 meters looking forward 100.000000 meters along route # Maximum depth: 776.358569 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 725.943847 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.801662; longitude = -136.080744; duration = 487; initialDepth = 726.743411; finalDepth = 725.943847; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.409838 # Actual altitude: 51.409838 # Commanded vehicle depth: 725.943847 # Seafloor depth: -776.030361 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 121.868655 meters # Minimum depth: 776.743411 meters looking forward 100.000000 meters along route # Maximum depth: 777.865098 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 726.743411 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.802753; longitude = -136.080924; duration = 487; initialDepth = 728.613036; finalDepth = 726.743411; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.086514 # Actual altitude: 50.086514 # Commanded vehicle depth: 726.743411 # Seafloor depth: -776.743411 # 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 25 # Segment length 121.868651 meters # Minimum depth: 778.613036 meters looking forward 100.000000 meters along route # Maximum depth: 781.080266 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 728.613036 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.803844; longitude = -136.081104; duration = 487; initialDepth = 731.183015; finalDepth = 728.613036; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 728.613036 # Seafloor depth: -778.613036 # 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 25 # Segment length 121.868647 meters # Minimum depth: 781.183015 meters looking forward 100.000000 meters along route # Maximum depth: 782.679898 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 731.183015 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.804935; longitude = -136.081284; duration = 487; initialDepth = 733.372106; finalDepth = 731.183015; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 731.183015 # Seafloor depth: -781.183015 # 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 25 # Segment length 121.868641 meters # Minimum depth: 783.372106 meters looking forward 100.000000 meters along route # Maximum depth: 783.825922 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 733.372106 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.806026; longitude = -136.081464; duration = 487; initialDepth = 733.927172; finalDepth = 733.372106; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 733.372106 # Seafloor depth: -783.372106 # 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 25 # Segment length 121.868638 meters # Minimum depth: 783.927172 meters looking forward 100.000000 meters along route # Maximum depth: 784.401489 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 733.927172 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.807117; longitude = -136.081645; duration = 487; initialDepth = 734.436174; finalDepth = 733.927172; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 733.927172 # Seafloor depth: -783.927172 # 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 25 # Segment length 121.868632 meters # Minimum depth: 784.436174 meters looking forward 100.000000 meters along route # Maximum depth: 785.111840 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 734.436174 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.808208; longitude = -136.081825; duration = 487; initialDepth = 735.230267; finalDepth = 734.436174; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 734.436174 # Seafloor depth: -784.436174 # 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 25 # Segment length 121.868628 meters # Minimum depth: 785.230267 meters looking forward 100.000000 meters along route # Maximum depth: 785.675981 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 735.230267 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.809299; longitude = -136.082005; duration = 487; initialDepth = 734.484291; finalDepth = 735.230267; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.082983 # Actual altitude: 50.082983 # Commanded vehicle depth: 735.230267 # Seafloor depth: -785.313250 # 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 25 # Segment length 121.868624 meters # Minimum depth: 784.484291 meters looking forward 100.000000 meters along route # Maximum depth: 785.123428 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 734.484291 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.810390; longitude = -136.082185; duration = 487; initialDepth = 735.028630; finalDepth = 734.484291; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.082983 # Actual altitude: 50.082983 # Commanded vehicle depth: 734.484291 # Seafloor depth: -784.484291 # 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 25 # Segment length 121.868619 meters # Minimum depth: 785.028630 meters looking forward 100.000000 meters along route # Maximum depth: 785.287404 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 735.028630 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.811481; longitude = -136.082365; duration = 487; initialDepth = 734.509397; finalDepth = 735.028630; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.101374 # Actual altitude: 50.101374 # Commanded vehicle depth: 735.02863 # Seafloor depth: -785.130004 # 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 25 # Segment length 121.868614 meters # Minimum depth: 784.509397 meters looking forward 100.000000 meters along route # Maximum depth: 785.569188 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 734.509397 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.812573; longitude = -136.082546; duration = 487; initialDepth = 735.520050; finalDepth = 734.509397; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.059791 # Actual altitude: 51.059791 # Commanded vehicle depth: 734.509397 # Seafloor depth: -785.569188 # 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 25 # Segment length 124.566102 meters # Minimum depth: 785.520050 meters looking forward 100.000000 meters along route # Maximum depth: 786.538010 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 735.520050 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.813664; longitude = -136.082726; duration = 498; initialDepth = 736.581833; finalDepth = 735.520050; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.059791 # Actual altitude: 51.059791 # Commanded vehicle depth: 735.52005 # Seafloor depth: -785.520050 # 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 25 # Segment length 126.566684 meters # Minimum depth: 786.581833 meters looking forward 100.000000 meters along route # Maximum depth: 788.498590 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 736.581833 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.814779; longitude = -136.082910; duration = 506; initialDepth = 738.590256; finalDepth = 736.581833; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 736.581833 # Seafloor depth: -786.581833 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 150.005418 meters # Minimum depth: 788.590256 meters looking forward 100.000000 meters along route # Maximum depth: 789.621211 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.590256 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.815912; longitude = -136.083097; duration = 600; # abortOnTimeout = True; initialDepth = 739.325127; finalDepth = 738.590256; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 738.590256 # Seafloor depth: -788.590256 # 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 23 # Segment length 90.643715 meters # Minimum depth: 789.325127 meters looking forward 100.000000 meters along route # Maximum depth: 789.494308 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.325127 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.815839; longitude = -136.087181; duration = 362; # abortOnTimeout = True; initialDepth = 738.028283; finalDepth = 739.325127; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1691810000001 # Actual altitude: 50.1691810000001 # Commanded vehicle depth: 739.325127 # Seafloor depth: -789.494308 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 121.869085 meters # Minimum depth: 788.028283 meters looking forward 100.000000 meters along route # Maximum depth: 788.911090 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.028283 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.815027; longitude = -136.087047; duration = 487; initialDepth = 737.002325; finalDepth = 738.028283; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.882807 # Actual altitude: 50.882807 # Commanded vehicle depth: 738.028283 # Seafloor depth: -788.911090 # 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 23 # Segment length 121.869089 meters # Minimum depth: 787.002325 meters looking forward 100.000000 meters along route # Maximum depth: 787.840137 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 737.002325 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.813936; longitude = -136.086866; duration = 487; initialDepth = 736.763735; finalDepth = 737.002325; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.882807 # Actual altitude: 50.882807 # Commanded vehicle depth: 737.002325 # Seafloor depth: -787.840137 # 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 23 # Segment length 121.869094 meters # Minimum depth: 786.763735 meters looking forward 100.000000 meters along route # Maximum depth: 787.477192 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 736.763735 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.812845; longitude = -136.086686; duration = 487; initialDepth = 736.083831; finalDepth = 736.763735; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.837812 # Actual altitude: 50.837812 # Commanded vehicle depth: 736.763735 # Seafloor depth: -787.477192 # 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 23 # Segment length 121.869098 meters # Minimum depth: 786.083831 meters looking forward 100.000000 meters along route # Maximum depth: 786.537736 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 736.083831 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.811754; longitude = -136.086506; duration = 487; initialDepth = 735.406276; finalDepth = 736.083831; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7134569999999 # Actual altitude: 50.7134569999999 # Commanded vehicle depth: 736.083831 # Seafloor depth: -786.537736 # 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 23 # Segment length 121.869103 meters # Minimum depth: 785.406276 meters looking forward 100.000000 meters along route # Maximum depth: 785.889040 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 735.406276 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.810663; longitude = -136.086325; duration = 487; initialDepth = 734.071209; finalDepth = 735.406276; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.482764 # Actual altitude: 50.482764 # Commanded vehicle depth: 735.406276 # Seafloor depth: -785.889040 # 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 23 # Segment length 121.869108 meters # Minimum depth: 784.071209 meters looking forward 100.000000 meters along route # Maximum depth: 785.106086 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 734.071209 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.809572; longitude = -136.086145; duration = 487; initialDepth = 732.309888; finalDepth = 734.071209; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0348770000001 # Actual altitude: 51.0348770000001 # Commanded vehicle depth: 734.071209 # Seafloor depth: -785.106086 # 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 23 # Segment length 121.869113 meters # Minimum depth: 782.309888 meters looking forward 100.000000 meters along route # Maximum depth: 783.512582 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 732.309888 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.808481; longitude = -136.085964; duration = 487; initialDepth = 731.136511; finalDepth = 732.309888; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.202694 # Actual altitude: 51.202694 # Commanded vehicle depth: 732.309888 # Seafloor depth: -783.512582 # 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 23 # Segment length 121.869116 meters # Minimum depth: 781.136511 meters looking forward 100.000000 meters along route # Maximum depth: 781.981825 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 731.136511 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.807390; longitude = -136.085784; duration = 487; initialDepth = 730.763247; finalDepth = 731.136511; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.202694 # Actual altitude: 51.202694 # Commanded vehicle depth: 731.136511 # Seafloor depth: -781.981825 # 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 23 # Segment length 121.869122 meters # Minimum depth: 780.763247 meters looking forward 100.000000 meters along route # Maximum depth: 781.201778 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 730.763247 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.806299; longitude = -136.085604; duration = 487; initialDepth = 728.002826; finalDepth = 730.763247; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8453139999999 # Actual altitude: 50.8453139999999 # Commanded vehicle depth: 730.763247 # Seafloor depth: -781.101033 # 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 23 # Segment length 121.869126 meters # Minimum depth: 778.002826 meters looking forward 100.000000 meters along route # Maximum depth: 778.966875 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 728.002826 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.805208; longitude = -136.085423; duration = 487; initialDepth = 720.284724; finalDepth = 728.002826; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.515497 # Actual altitude: 50.515497 # Commanded vehicle depth: 728.002826 # Seafloor depth: -778.518323 # 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 23 # Segment length 121.869131 meters # Minimum depth: 770.284724 meters looking forward 100.000000 meters along route # Maximum depth: 776.003128 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.284724 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.804117; longitude = -136.085243; duration = 487; initialDepth = 720.326667; finalDepth = 720.284724; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.718404 # Actual altitude: 55.718404 # Commanded vehicle depth: 720.284724 # Seafloor depth: -776.003128 # 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 23 # Segment length 121.869135 meters # Minimum depth: 770.326667 meters looking forward 100.000000 meters along route # Maximum depth: 770.934057 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.326667 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.803025; longitude = -136.085062; duration = 487; initialDepth = 719.371158; finalDepth = 720.326667; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.718404 # Actual altitude: 55.718404 # Commanded vehicle depth: 720.326667 # Seafloor depth: -770.326667 # 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 23 # Segment length 121.869140 meters # Minimum depth: 769.371158 meters looking forward 100.000000 meters along route # Maximum depth: 772.674227 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.371158 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.801934; longitude = -136.084882; duration = 487; initialDepth = 722.889218; finalDepth = 719.371158; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 719.371158 # Seafloor depth: -769.371158 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 121.869145 meters # Minimum depth: 772.889218 meters looking forward 100.000000 meters along route # Maximum depth: 774.138553 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 722.889218 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.800843; longitude = -136.084702; duration = 487; initialDepth = 724.219857; finalDepth = 722.889218; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 722.889218 # Seafloor depth: -772.889218 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 121.869149 meters # Minimum depth: 774.219857 meters looking forward 100.000000 meters along route # Maximum depth: 776.642104 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 724.219857 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.799752; longitude = -136.084521; duration = 487; initialDepth = 727.355355; finalDepth = 724.219857; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 724.219857 # Seafloor depth: -774.219857 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 121.869154 meters # Minimum depth: 777.355355 meters looking forward 100.000000 meters along route # Maximum depth: 778.135406 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 727.355355 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.798661; longitude = -136.084341; duration = 487; initialDepth = 728.256816; finalDepth = 727.355355; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 727.355355 # Seafloor depth: -777.355355 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 121.869159 meters # Minimum depth: 778.256816 meters looking forward 100.000000 meters along route # Maximum depth: 779.614056 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 728.256816 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.797570; longitude = -136.084160; duration = 487; initialDepth = 729.421932; finalDepth = 728.256816; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 728.256816 # Seafloor depth: -778.256816 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 121.869163 meters # Minimum depth: 779.421932 meters looking forward 100.000000 meters along route # Maximum depth: 780.151709 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 729.421932 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.796479; longitude = -136.083980; duration = 487; initialDepth = 730.697438; finalDepth = 729.421932; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.297648 # Actual altitude: 50.297648 # Commanded vehicle depth: 729.421932 # Seafloor depth: -779.719580 # 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 23 # Segment length 121.869167 meters # Minimum depth: 780.697438 meters looking forward 100.000000 meters along route # Maximum depth: 781.146618 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 730.697438 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795388; longitude = -136.083799; duration = 487; initialDepth = 730.938840; finalDepth = 730.697438; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.297648 # Actual altitude: 50.297648 # Commanded vehicle depth: 730.697438 # Seafloor depth: -780.697438 # 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 23 # Segment length 110.550247 meters # Minimum depth: 780.938840 meters looking forward 100.000000 meters along route # Maximum depth: 781.921409 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 730.938840 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794297; longitude = -136.083619; duration = 442; initialDepth = 731.959515; finalDepth = 730.938840; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 730.93884 # Seafloor depth: -780.938840 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 102.720808 meters # Minimum depth: 781.959515 meters looking forward 100.000000 meters along route # Maximum depth: 782.212652 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 731.959515 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.793307; longitude = -136.083455; duration = 410; initialDepth = 731.744884; finalDepth = 731.959515; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 731.959515 # Seafloor depth: -781.959515 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 121.869180 meters # Minimum depth: 781.744884 meters looking forward 100.000000 meters along route # Maximum depth: 782.225953 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 731.744884 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.792387; longitude = -136.083303; duration = 487; initialDepth = 724.338957; finalDepth = 731.744884; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.481069 # Actual altitude: 50.481069 # Commanded vehicle depth: 731.744884 # Seafloor depth: -782.225953 # 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 23 # Segment length 121.869185 meters # Minimum depth: 774.338957 meters looking forward 100.000000 meters along route # Maximum depth: 781.593177 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 724.338957 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.791296; longitude = -136.083123; duration = 487; initialDepth = 712.787765; finalDepth = 724.338957; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.2542199999999 # Actual altitude: 57.2542199999999 # Commanded vehicle depth: 724.338957 # Seafloor depth: -781.593177 # 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 23 # Segment length 121.869190 meters # Minimum depth: 762.787765 meters looking forward 100.000000 meters along route # Maximum depth: 772.636941 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.787765 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.790205; longitude = -136.082943; duration = 487; initialDepth = 702.008195; finalDepth = 712.787765; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.8491759999999 # Actual altitude: 59.8491759999999 # Commanded vehicle depth: 712.787765 # Seafloor depth: -772.636941 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 121.869194 meters # Minimum depth: 752.008195 meters looking forward 100.000000 meters along route # Maximum depth: 760.336378 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 702.008195 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.789114; longitude = -136.082762; duration = 487; initialDepth = 698.339944; finalDepth = 702.008195; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.8491759999999 # Actual altitude: 59.8491759999999 # Commanded vehicle depth: 702.008195 # Seafloor depth: -760.336378 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 121.869199 meters # Minimum depth: 748.339944 meters looking forward 100.000000 meters along route # Maximum depth: 751.412827 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.339944 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.788023; longitude = -136.082582; duration = 487; initialDepth = 694.755060; finalDepth = 698.339944; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.328183 # Actual altitude: 58.328183 # Commanded vehicle depth: 698.339944 # Seafloor depth: -751.412827 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 121.869204 meters # Minimum depth: 744.755060 meters looking forward 100.000000 meters along route # Maximum depth: 747.255688 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.755060 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.786932; longitude = -136.082401; duration = 487; initialDepth = 691.414684; finalDepth = 694.755060; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.072883 # Actual altitude: 53.072883 # Commanded vehicle depth: 694.75506 # Seafloor depth: -747.255688 # 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 23 # Segment length 121.869208 meters # Minimum depth: 741.414684 meters looking forward 100.000000 meters along route # Maximum depth: 743.875798 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.414684 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785841; longitude = -136.082221; duration = 487; initialDepth = 688.129560; finalDepth = 691.414684; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.500628 # Actual altitude: 52.500628 # Commanded vehicle depth: 691.414684 # Seafloor depth: -743.875798 # 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 23 # Segment length 121.869212 meters # Minimum depth: 738.129560 meters looking forward 100.000000 meters along route # Maximum depth: 740.606455 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.129560 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.784750; longitude = -136.082041; duration = 487; initialDepth = 685.808536; finalDepth = 688.129560; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.476895 # Actual altitude: 52.476895 # Commanded vehicle depth: 688.12956 # Seafloor depth: -740.606455 # 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 23 # Segment length 111.530458 meters # Minimum depth: 735.808536 meters looking forward 100.000000 meters along route # Maximum depth: 737.198956 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.808536 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.783659; longitude = -136.081860; duration = 446; initialDepth = 685.145164; finalDepth = 685.808536; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.476895 # Actual altitude: 52.476895 # Commanded vehicle depth: 685.808536 # Seafloor depth: -737.198956 # 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; } # ####################################################### # # 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 149.997911 meters # Minimum depth: 735.145164 meters looking forward 100.000000 meters along route # Maximum depth: 735.600983 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.145164 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.782660; longitude = -136.081695; duration = 599; # abortOnTimeout = True; initialDepth = 685.687790; finalDepth = 685.145164; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.3904199999999 # Actual altitude: 51.3904199999999 # Commanded vehicle depth: 685.145164 # Seafloor depth: -735.600983 # 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; } # ####################################################### # # 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 180.619380 meters # Minimum depth: 735.687790 meters looking forward 100.000000 meters along route # Maximum depth: 738.074518 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.687790 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.782587; longitude = -136.085772; duration = 722; # abortOnTimeout = True; initialDepth = 688.880059; finalDepth = 685.687790; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.455819 # Actual altitude: 50.455819 # Commanded vehicle depth: 685.68779 # Seafloor depth: -735.687790 # 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 21 # Segment length 121.869623 meters # Minimum depth: 738.880059 meters looking forward 100.000000 meters along route # Maximum depth: 741.814347 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.880059 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.784204; longitude = -136.086040; duration = 487; initialDepth = 692.300672; finalDepth = 688.880059; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 688.880059 # Seafloor depth: -738.880059 # 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 21 # Segment length 121.869617 meters # Minimum depth: 742.300672 meters looking forward 100.000000 meters along route # Maximum depth: 744.474353 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.300672 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785295; longitude = -136.086220; duration = 487; initialDepth = 695.341359; finalDepth = 692.300672; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 692.300672 # Seafloor depth: -742.300672 # 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 21 # Segment length 121.869614 meters # Minimum depth: 745.341359 meters looking forward 100.000000 meters along route # Maximum depth: 748.373277 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.341359 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.786386; longitude = -136.086401; duration = 487; initialDepth = 699.445880; finalDepth = 695.341359; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 695.341359 # Seafloor depth: -745.341359 # 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 21 # Segment length 121.869608 meters # Minimum depth: 749.445880 meters looking forward 100.000000 meters along route # Maximum depth: 756.744269 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.445880 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.787477; longitude = -136.086581; duration = 487; initialDepth = 708.318830; finalDepth = 699.445880; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 699.44588 # Seafloor depth: -749.445880 # 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 21 # Segment length 121.869604 meters # Minimum depth: 758.318830 meters looking forward 100.000000 meters along route # Maximum depth: 764.617628 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 708.318830 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.788568; longitude = -136.086762; duration = 487; initialDepth = 715.622181; finalDepth = 708.318830; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 708.31883 # Seafloor depth: -758.318830 # 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 21 # Segment length 121.869600 meters # Minimum depth: 765.622181 meters looking forward 100.000000 meters along route # Maximum depth: 775.447756 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.622181 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.789660; longitude = -136.086943; duration = 487; initialDepth = 727.902873; finalDepth = 715.622181; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 715.622181 # Seafloor depth: -765.622181 # 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 21 # Segment length 121.869594 meters # Minimum depth: 777.902873 meters looking forward 100.000000 meters along route # Maximum depth: 781.373807 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 727.902873 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.790751; longitude = -136.087123; duration = 487; initialDepth = 730.983938; finalDepth = 727.902873; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 727.902873 # Seafloor depth: -777.902873 # 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 21 # Segment length 121.869590 meters # Minimum depth: 780.983938 meters looking forward 100.000000 meters along route # Maximum depth: 781.383636 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 730.983938 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.791842; longitude = -136.087304; duration = 487; initialDepth = 730.039628; finalDepth = 730.983938; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3827180000001 # Actual altitude: 50.3827180000001 # Commanded vehicle depth: 730.983938 # Seafloor depth: -781.366656 # 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 21 # Segment length 121.869585 meters # Minimum depth: 780.039628 meters looking forward 100.000000 meters along route # Maximum depth: 780.855225 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 730.039628 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.792933; longitude = -136.087485; duration = 487; initialDepth = 728.730701; finalDepth = 730.039628; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.815597 # Actual altitude: 50.815597 # Commanded vehicle depth: 730.039628 # Seafloor depth: -780.855225 # 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 21 # Segment length 121.869581 meters # Minimum depth: 778.730701 meters looking forward 100.000000 meters along route # Maximum depth: 779.780630 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 728.730701 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794024; longitude = -136.087665; duration = 487; initialDepth = 728.195221; finalDepth = 728.730701; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.049929 # Actual altitude: 51.049929 # Commanded vehicle depth: 728.730701 # Seafloor depth: -779.780630 # 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 21 # Segment length 121.869576 meters # Minimum depth: 778.195221 meters looking forward 100.000000 meters along route # Maximum depth: 778.725181 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 728.195221 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795115; longitude = -136.087846; duration = 487; initialDepth = 727.410692; finalDepth = 728.195221; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.049929 # Actual altitude: 51.049929 # Commanded vehicle depth: 728.195221 # Seafloor depth: -778.725181 # 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 21 # Segment length 121.869571 meters # Minimum depth: 777.410692 meters looking forward 100.000000 meters along route # Maximum depth: 778.120550 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 727.410692 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.796206; longitude = -136.088026; duration = 487; initialDepth = 723.029305; finalDepth = 727.410692; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7098579999999 # Actual altitude: 50.7098579999999 # Commanded vehicle depth: 727.410692 # Seafloor depth: -778.120550 # 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 21 # Segment length 121.869567 meters # Minimum depth: 773.029305 meters looking forward 100.000000 meters along route # Maximum depth: 777.157990 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 723.029305 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.797297; longitude = -136.088207; duration = 487; initialDepth = 719.800989; finalDepth = 723.029305; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.128685 # Actual altitude: 54.128685 # Commanded vehicle depth: 723.029305 # Seafloor depth: -777.157990 # 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 21 # Segment length 121.869562 meters # Minimum depth: 769.800989 meters looking forward 100.000000 meters along route # Maximum depth: 772.685506 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.800989 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.798388; longitude = -136.088388; duration = 487; initialDepth = 712.700576; finalDepth = 719.800989; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.128685 # Actual altitude: 54.128685 # Commanded vehicle depth: 719.800989 # Seafloor depth: -772.685506 # 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 21 # Segment length 121.869557 meters # Minimum depth: 762.700576 meters looking forward 100.000000 meters along route # Maximum depth: 767.329647 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.700576 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.799479; longitude = -136.088568; duration = 487; initialDepth = 707.983982; finalDepth = 712.700576; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.6290710000001 # Actual altitude: 54.6290710000001 # Commanded vehicle depth: 712.700576 # Seafloor depth: -767.329647 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 121.869553 meters # Minimum depth: 757.983982 meters looking forward 100.000000 meters along route # Maximum depth: 762.130684 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.983982 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.800570; longitude = -136.088749; duration = 487; initialDepth = 700.766780; finalDepth = 707.983982; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.6290710000001 # Actual altitude: 54.6290710000001 # Commanded vehicle depth: 707.983982 # Seafloor depth: -762.130684 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 121.869548 meters # Minimum depth: 750.766780 meters looking forward 100.000000 meters along route # Maximum depth: 756.869349 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.766780 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.801662; longitude = -136.088929; duration = 487; initialDepth = 701.083977; finalDepth = 700.766780; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.102569 # Actual altitude: 56.102569 # Commanded vehicle depth: 700.76678 # Seafloor depth: -756.869349 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 121.869544 meters # Minimum depth: 751.083977 meters looking forward 100.000000 meters along route # Maximum depth: 758.940201 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 701.083977 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.802753; longitude = -136.089110; duration = 487; initialDepth = 710.429993; finalDepth = 701.083977; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.102569 # Actual altitude: 56.102569 # Commanded vehicle depth: 701.083977 # Seafloor depth: -751.083977 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 121.869538 meters # Minimum depth: 760.429993 meters looking forward 100.000000 meters along route # Maximum depth: 765.186213 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.429993 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.803844; longitude = -136.089291; duration = 487; initialDepth = 715.360950; finalDepth = 710.429993; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 710.429993 # Seafloor depth: -760.429993 # 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 21 # Segment length 121.869535 meters # Minimum depth: 765.360950 meters looking forward 100.000000 meters along route # Maximum depth: 774.228768 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.360950 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.804935; longitude = -136.089471; duration = 487; initialDepth = 724.341775; finalDepth = 715.360950; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 715.36095 # Seafloor depth: -765.360950 # 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 21 # Segment length 121.869529 meters # Minimum depth: 774.341775 meters looking forward 100.000000 meters along route # Maximum depth: 775.270088 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 724.341775 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.806026; longitude = -136.089652; duration = 487; initialDepth = 725.899678; finalDepth = 724.341775; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 724.341775 # Seafloor depth: -774.341775 # 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 21 # Segment length 121.869525 meters # Minimum depth: 775.899678 meters looking forward 100.000000 meters along route # Maximum depth: 778.537590 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 725.899678 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.807117; longitude = -136.089832; duration = 487; initialDepth = 728.771142; finalDepth = 725.899678; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 725.899678 # Seafloor depth: -775.899678 # 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 21 # Segment length 121.869520 meters # Minimum depth: 778.771142 meters looking forward 100.000000 meters along route # Maximum depth: 781.534284 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 728.771142 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.808208; longitude = -136.090013; duration = 487; initialDepth = 732.479963; finalDepth = 728.771142; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 728.771142 # Seafloor depth: -778.771142 # 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 21 # Segment length 121.869515 meters # Minimum depth: 782.479963 meters looking forward 100.000000 meters along route # Maximum depth: 784.410345 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 732.479963 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.809299; longitude = -136.090194; duration = 487; initialDepth = 734.854765; finalDepth = 732.479963; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 732.479963 # Seafloor depth: -782.479963 # 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 21 # Segment length 121.869511 meters # Minimum depth: 784.854765 meters looking forward 100.000000 meters along route # Maximum depth: 786.240790 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 734.854765 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.810390; longitude = -136.090374; duration = 487; initialDepth = 736.281587; finalDepth = 734.854765; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 734.854765 # Seafloor depth: -784.854765 # 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 21 # Segment length 121.869506 meters # Minimum depth: 786.281587 meters looking forward 100.000000 meters along route # Maximum depth: 787.318617 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 736.281587 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.811481; longitude = -136.090555; duration = 487; initialDepth = 737.423070; finalDepth = 736.281587; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 736.281587 # Seafloor depth: -786.281587 # 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 21 # Segment length 121.869502 meters # Minimum depth: 787.423070 meters looking forward 100.000000 meters along route # Maximum depth: 787.872555 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 737.423070 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.812573; longitude = -136.090735; duration = 487; initialDepth = 738.213829; finalDepth = 737.423070; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 737.42307 # Seafloor depth: -787.423070 # 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 21 # Segment length 121.869497 meters # Minimum depth: 788.213829 meters looking forward 100.000000 meters along route # Maximum depth: 789.050380 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.213829 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.813664; longitude = -136.090916; duration = 487; initialDepth = 739.058512; finalDepth = 738.213829; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 738.213829 # Seafloor depth: -788.213829 # 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 21 # Segment length 112.957672 meters # Minimum depth: 789.058512 meters looking forward 100.000000 meters along route # Maximum depth: 790.295966 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.058512 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.814755; longitude = -136.091097; duration = 451; initialDepth = 740.394073; finalDepth = 739.058512; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 739.058512 # Seafloor depth: -789.058512 # 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 20 # Segment length 150.006557 meters # Minimum depth: 790.394073 meters looking forward 100.000000 meters along route # Maximum depth: 791.478709 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.394073 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.815766; longitude = -136.091264; duration = 600; # abortOnTimeout = True; initialDepth = 739.512355; finalDepth = 740.394073; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 740.394073 # Seafloor depth: -790.394073 # 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 196.206822 meters # Minimum depth: 789.512355 meters looking forward 100.000000 meters along route # Maximum depth: 791.455505 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.512355 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.815693; longitude = -136.095348; duration = 784; # abortOnTimeout = True; initialDepth = 737.937452; finalDepth = 739.512355; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9431500000001 # Actual altitude: 51.9431500000001 # Commanded vehicle depth: 739.512355 # Seafloor depth: -791.455505 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 121.869967 meters # Minimum depth: 787.937452 meters looking forward 100.000000 meters along route # Maximum depth: 788.942655 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 737.937452 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.813936; longitude = -136.095057; duration = 487; initialDepth = 735.484947; finalDepth = 737.937452; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9431500000001 # Actual altitude: 51.9431500000001 # Commanded vehicle depth: 737.937452 # Seafloor depth: -788.942655 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 121.869972 meters # Minimum depth: 785.484947 meters looking forward 100.000000 meters along route # Maximum depth: 787.585223 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 735.484947 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.812845; longitude = -136.094876; duration = 487; initialDepth = 732.094505; finalDepth = 735.484947; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.100276 # Actual altitude: 52.100276 # Commanded vehicle depth: 735.484947 # Seafloor depth: -787.585223 # 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 19 # Segment length 121.869976 meters # Minimum depth: 782.094505 meters looking forward 100.000000 meters along route # Maximum depth: 784.613321 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 732.094505 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.811754; longitude = -136.094695; duration = 487; initialDepth = 727.673480; finalDepth = 732.094505; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.518816 # Actual altitude: 52.518816 # Commanded vehicle depth: 732.094505 # Seafloor depth: -784.613321 # 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 19 # Segment length 121.869981 meters # Minimum depth: 777.673480 meters looking forward 100.000000 meters along route # Maximum depth: 781.326131 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 727.673480 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.810663; longitude = -136.094514; duration = 487; initialDepth = 724.568170; finalDepth = 727.673480; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.652651 # Actual altitude: 53.652651 # Commanded vehicle depth: 727.67348 # Seafloor depth: -781.326131 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 121.869985 meters # Minimum depth: 774.568170 meters looking forward 100.000000 meters along route # Maximum depth: 776.977614 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 724.568170 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.809572; longitude = -136.094334; duration = 487; initialDepth = 718.159264; finalDepth = 724.568170; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.652651 # Actual altitude: 53.652651 # Commanded vehicle depth: 724.56817 # Seafloor depth: -776.977614 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 121.869990 meters # Minimum depth: 768.159264 meters looking forward 100.000000 meters along route # Maximum depth: 772.945662 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.159264 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.808481; longitude = -136.094153; duration = 487; initialDepth = 714.849049; finalDepth = 718.159264; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.786398 # Actual altitude: 54.786398 # Commanded vehicle depth: 718.159264 # Seafloor depth: -772.945662 # 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 19 # Segment length 121.869995 meters # Minimum depth: 764.849049 meters looking forward 100.000000 meters along route # Maximum depth: 766.929910 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.849049 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.807390; longitude = -136.093972; duration = 487; initialDepth = 713.060804; finalDepth = 714.849049; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.786398 # Actual altitude: 54.786398 # Commanded vehicle depth: 714.849049 # Seafloor depth: -766.929910 # 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 19 # Segment length 121.870000 meters # Minimum depth: 763.060804 meters looking forward 100.000000 meters along route # Maximum depth: 764.620273 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.060804 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.806299; longitude = -136.093791; duration = 487; initialDepth = 703.378815; finalDepth = 713.060804; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0808609999999 # Actual altitude: 52.0808609999999 # Commanded vehicle depth: 713.060804 # Seafloor depth: -764.620273 # 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 19 # Segment length 121.870004 meters # Minimum depth: 753.378815 meters looking forward 100.000000 meters along route # Maximum depth: 762.046469 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 703.378815 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.805208; longitude = -136.093610; duration = 487; initialDepth = 694.372935; finalDepth = 703.378815; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.667654 # Actual altitude: 58.667654 # Commanded vehicle depth: 703.378815 # Seafloor depth: -762.046469 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 121.870009 meters # Minimum depth: 744.372935 meters looking forward 100.000000 meters along route # Maximum depth: 748.137339 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.372935 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.804117; longitude = -136.093429; duration = 487; initialDepth = 692.967959; finalDepth = 694.372935; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.667654 # Actual altitude: 58.667654 # Commanded vehicle depth: 694.372935 # Seafloor depth: -748.137339 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 121.870014 meters # Minimum depth: 742.967959 meters looking forward 100.000000 meters along route # Maximum depth: 744.105836 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.967959 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.803025; longitude = -136.093249; duration = 487; initialDepth = 692.707206; finalDepth = 692.967959; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.764404 # Actual altitude: 53.764404 # Commanded vehicle depth: 692.967959 # Seafloor depth: -744.105836 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 121.870018 meters # Minimum depth: 742.707206 meters looking forward 100.000000 meters along route # Maximum depth: 743.547976 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.707206 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.801934; longitude = -136.093068; duration = 487; initialDepth = 693.654525; finalDepth = 692.707206; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.137877 # Actual altitude: 51.137877 # Commanded vehicle depth: 692.707206 # Seafloor depth: -742.720505 # 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 19 # Segment length 121.870023 meters # Minimum depth: 743.654525 meters looking forward 100.000000 meters along route # Maximum depth: 750.114195 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.654525 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.800843; longitude = -136.092887; duration = 487; initialDepth = 702.058053; finalDepth = 693.654525; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.013299 # Actual altitude: 50.013299 # Commanded vehicle depth: 693.654525 # Seafloor depth: -743.654525 # 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 19 # Segment length 121.870028 meters # Minimum depth: 752.058053 meters looking forward 100.000000 meters along route # Maximum depth: 759.491777 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 702.058053 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.799752; longitude = -136.092706; duration = 487; initialDepth = 712.439987; finalDepth = 702.058053; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 702.058053 # Seafloor depth: -752.058053 # 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 19 # Segment length 121.870033 meters # Minimum depth: 762.439987 meters looking forward 100.000000 meters along route # Maximum depth: 769.164483 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.439987 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.798661; longitude = -136.092525; duration = 487; initialDepth = 720.672384; finalDepth = 712.439987; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 712.439987 # Seafloor depth: -762.439987 # 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 19 # Segment length 121.870037 meters # Minimum depth: 770.672384 meters looking forward 100.000000 meters along route # Maximum depth: 774.434359 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.672384 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.797570; longitude = -136.092344; duration = 487; initialDepth = 724.854827; finalDepth = 720.672384; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 720.672384 # Seafloor depth: -770.672384 # 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 19 # Segment length 121.870042 meters # Minimum depth: 774.854827 meters looking forward 100.000000 meters along route # Maximum depth: 776.764080 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 724.854827 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.796479; longitude = -136.092164; duration = 487; initialDepth = 726.936515; finalDepth = 724.854827; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 724.854827 # Seafloor depth: -774.854827 # 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 19 # Segment length 121.870047 meters # Minimum depth: 776.936515 meters looking forward 100.000000 meters along route # Maximum depth: 777.918256 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 726.936515 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795388; longitude = -136.091983; duration = 487; initialDepth = 728.157187; finalDepth = 726.936515; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 726.936515 # Seafloor depth: -776.936515 # 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 19 # Segment length 121.870051 meters # Minimum depth: 778.157187 meters looking forward 100.000000 meters along route # Maximum depth: 779.513084 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 728.157187 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794297; longitude = -136.091802; duration = 487; initialDepth = 729.629290; finalDepth = 728.157187; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 728.157187 # Seafloor depth: -778.157187 # 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 19 # Segment length 121.870056 meters # Minimum depth: 779.629290 meters looking forward 100.000000 meters along route # Maximum depth: 780.335073 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 729.629290 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.793206; longitude = -136.091621; duration = 487; initialDepth = 730.491126; finalDepth = 729.629290; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 729.62929 # Seafloor depth: -779.629290 # 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 19 # Segment length 121.870061 meters # Minimum depth: 780.491126 meters looking forward 100.000000 meters along route # Maximum depth: 780.796861 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 730.491126 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.792115; longitude = -136.091440; duration = 487; initialDepth = 722.879703; finalDepth = 730.491126; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.113145 # Actual altitude: 50.113145 # Commanded vehicle depth: 730.491126 # Seafloor depth: -780.604271 # 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 19 # Segment length 121.870065 meters # Minimum depth: 772.879703 meters looking forward 100.000000 meters along route # Maximum depth: 780.435129 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 722.879703 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.791023; longitude = -136.091259; duration = 487; initialDepth = 713.851973; finalDepth = 722.879703; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.555426 # Actual altitude: 57.555426 # Commanded vehicle depth: 722.879703 # Seafloor depth: -780.435129 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 121.870070 meters # Minimum depth: 763.851973 meters looking forward 100.000000 meters along route # Maximum depth: 772.417410 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.851973 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.789932; longitude = -136.091079; duration = 487; initialDepth = 702.895372; finalDepth = 713.851973; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.565437 # Actual altitude: 58.565437 # Commanded vehicle depth: 713.851973 # Seafloor depth: -772.417410 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 121.870075 meters # Minimum depth: 752.895372 meters looking forward 100.000000 meters along route # Maximum depth: 762.298522 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 702.895372 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.788841; longitude = -136.090898; duration = 487; initialDepth = 696.231448; finalDepth = 702.895372; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.4031500000001 # Actual altitude: 59.4031500000001 # Commanded vehicle depth: 702.895372 # Seafloor depth: -762.298522 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 121.870080 meters # Minimum depth: 746.231448 meters looking forward 100.000000 meters along route # Maximum depth: 749.477528 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 696.231448 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.787750; longitude = -136.090717; duration = 487; initialDepth = 693.088302; finalDepth = 696.231448; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.4031500000001 # Actual altitude: 59.4031500000001 # Commanded vehicle depth: 696.231448 # Seafloor depth: -749.477528 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 121.870084 meters # Minimum depth: 743.088302 meters looking forward 100.000000 meters along route # Maximum depth: 746.015941 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.088302 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.786659; longitude = -136.090536; duration = 487; initialDepth = 689.934215; finalDepth = 693.088302; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.24608 # Actual altitude: 53.24608 # Commanded vehicle depth: 693.088302 # Seafloor depth: -746.015941 # 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 19 # Segment length 121.870089 meters # Minimum depth: 739.934215 meters looking forward 100.000000 meters along route # Maximum depth: 741.951968 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.934215 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785568; longitude = -136.090355; duration = 487; initialDepth = 687.275555; finalDepth = 689.934215; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.927639 # Actual altitude: 52.927639 # Commanded vehicle depth: 689.934215 # Seafloor depth: -741.951968 # 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 19 # Segment length 116.249287 meters # Minimum depth: 737.275555 meters looking forward 100.000000 meters along route # Maximum depth: 739.237474 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.275555 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.784477; longitude = -136.090174; duration = 464; initialDepth = 685.052380; finalDepth = 687.275555; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.017753 # Actual altitude: 52.017753 # Commanded vehicle depth: 687.275555 # Seafloor depth: -739.237474 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 103.103767 meters # Minimum depth: 735.052380 meters looking forward 100.000000 meters along route # Maximum depth: 736.658381 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.052380 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.783436; longitude = -136.090002; duration = 412; initialDepth = 684.775375; finalDepth = 685.052380; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.961919 # Actual altitude: 51.961919 # Commanded vehicle depth: 685.05238 # Seafloor depth: -736.658381 # 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; } # ####################################################### # # 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 149.999055 meters # Minimum depth: 734.775375 meters looking forward 100.000000 meters along route # Maximum depth: 735.460916 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 684.775375 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.782513; longitude = -136.089849; duration = 599; # abortOnTimeout = True; initialDepth = 685.253986; finalDepth = 684.775375; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.606001 # Actual altitude: 51.606001 # Commanded vehicle depth: 684.775375 # Seafloor depth: -734.775375 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 75.169495 meters # Minimum depth: 735.253986 meters looking forward 100.000000 meters along route # Maximum depth: 736.207106 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.253986 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.782440; longitude = -136.093926; duration = 300; # abortOnTimeout = True; initialDepth = 686.960946; finalDepth = 685.253986; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.210568 # Actual altitude: 50.210568 # Commanded vehicle depth: 685.253986 # Seafloor depth: -735.464554 # 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 17 # Segment length 121.870574 meters # Minimum depth: 736.960946 meters looking forward 100.000000 meters along route # Maximum depth: 739.412674 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 686.960946 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.783113; longitude = -136.094038; duration = 487; initialDepth = 690.058311; finalDepth = 686.960946; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.210568 # Actual altitude: 50.210568 # Commanded vehicle depth: 686.960946 # Seafloor depth: -736.960946 # 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 17 # Segment length 121.870569 meters # Minimum depth: 740.058311 meters looking forward 100.000000 meters along route # Maximum depth: 742.501449 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.058311 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.784204; longitude = -136.094219; duration = 487; initialDepth = 693.006988; finalDepth = 690.058311; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 690.058311 # Seafloor depth: -740.058311 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 121.870565 meters # Minimum depth: 743.006988 meters looking forward 100.000000 meters along route # Maximum depth: 745.314767 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.006988 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785295; longitude = -136.094400; duration = 487; initialDepth = 695.954175; finalDepth = 693.006988; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 693.006988 # Seafloor depth: -743.006988 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 121.870560 meters # Minimum depth: 745.954175 meters looking forward 100.000000 meters along route # Maximum depth: 748.057231 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.954175 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.786386; longitude = -136.094581; duration = 487; initialDepth = 698.953139; finalDepth = 695.954175; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 695.954175 # Seafloor depth: -745.954175 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 121.870555 meters # Minimum depth: 748.953139 meters looking forward 100.000000 meters along route # Maximum depth: 757.483002 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.953139 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.787477; longitude = -136.094762; duration = 487; initialDepth = 708.715243; finalDepth = 698.953139; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 698.953139 # Seafloor depth: -748.953139 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 121.870550 meters # Minimum depth: 758.715243 meters looking forward 100.000000 meters along route # Maximum depth: 764.815492 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 708.715243 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.788568; longitude = -136.094943; duration = 487; initialDepth = 716.997118; finalDepth = 708.715243; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 708.715243 # Seafloor depth: -758.715243 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 121.870546 meters # Minimum depth: 766.997118 meters looking forward 100.000000 meters along route # Maximum depth: 774.798157 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.997118 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.789660; longitude = -136.095124; duration = 487; initialDepth = 729.318581; finalDepth = 716.997118; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 716.997118 # Seafloor depth: -766.997118 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 121.870540 meters # Minimum depth: 779.318581 meters looking forward 100.000000 meters along route # Maximum depth: 780.843537 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 729.318581 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.790751; longitude = -136.095305; duration = 487; initialDepth = 729.599848; finalDepth = 729.318581; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 729.318581 # Seafloor depth: -779.318581 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 121.870536 meters # Minimum depth: 779.599848 meters looking forward 100.000000 meters along route # Maximum depth: 780.571493 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 729.599848 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.791842; longitude = -136.095486; duration = 487; initialDepth = 728.258408; finalDepth = 729.599848; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9716450000001 # Actual altitude: 50.9716450000001 # Commanded vehicle depth: 729.599848 # Seafloor depth: -780.571493 # 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 17 # Segment length 121.870532 meters # Minimum depth: 778.258408 meters looking forward 100.000000 meters along route # Maximum depth: 779.287076 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 728.258408 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.792933; longitude = -136.095667; duration = 487; initialDepth = 725.673271; finalDepth = 728.258408; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0286679999999 # Actual altitude: 51.0286679999999 # Commanded vehicle depth: 728.258408 # Seafloor depth: -779.287076 # 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 17 # Segment length 121.870526 meters # Minimum depth: 775.673271 meters looking forward 100.000000 meters along route # Maximum depth: 777.819051 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 725.673271 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794024; longitude = -136.095848; duration = 487; initialDepth = 723.205892; finalDepth = 725.673271; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1457799999999 # Actual altitude: 52.1457799999999 # Commanded vehicle depth: 725.673271 # Seafloor depth: -777.819051 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 121.870522 meters # Minimum depth: 773.205892 meters looking forward 100.000000 meters along route # Maximum depth: 775.227948 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 723.205892 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795115; longitude = -136.096029; duration = 487; initialDepth = 717.637775; finalDepth = 723.205892; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1457799999999 # Actual altitude: 52.1457799999999 # Commanded vehicle depth: 723.205892 # Seafloor depth: -775.227948 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 121.870517 meters # Minimum depth: 767.637775 meters looking forward 100.000000 meters along route # Maximum depth: 772.163056 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.637775 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.796206; longitude = -136.096210; duration = 487; initialDepth = 708.828190; finalDepth = 717.637775; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5252809999999 # Actual altitude: 54.5252809999999 # Commanded vehicle depth: 717.637775 # Seafloor depth: -772.163056 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 121.870512 meters # Minimum depth: 758.828190 meters looking forward 100.000000 meters along route # Maximum depth: 766.263001 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 708.828190 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.797297; longitude = -136.096391; duration = 487; initialDepth = 694.512949; finalDepth = 708.828190; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.4348110000001 # Actual altitude: 57.4348110000001 # Commanded vehicle depth: 708.82819 # Seafloor depth: -766.263001 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 121.870508 meters # Minimum depth: 744.512949 meters looking forward 100.000000 meters along route # Maximum depth: 757.282645 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.512949 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.798388; longitude = -136.096573; duration = 487; initialDepth = 689.194688; finalDepth = 694.512949; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.769696 # Actual altitude: 62.769696 # Commanded vehicle depth: 694.512949 # Seafloor depth: -757.282645 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 121.870502 meters # Minimum depth: 739.194688 meters looking forward 100.000000 meters along route # Maximum depth: 741.738724 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.194688 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.799479; longitude = -136.096754; duration = 487; initialDepth = 692.527296; finalDepth = 689.194688; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.769696 # Actual altitude: 62.769696 # Commanded vehicle depth: 689.194688 # Seafloor depth: -739.194688 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 121.870498 meters # Minimum depth: 742.527296 meters looking forward 100.000000 meters along route # Maximum depth: 744.011019 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.527296 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.800570; longitude = -136.096935; duration = 487; initialDepth = 692.786565; finalDepth = 692.527296; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 692.527296 # Seafloor depth: -742.527296 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 121.870494 meters # Minimum depth: 742.786565 meters looking forward 100.000000 meters along route # Maximum depth: 743.642370 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.786565 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.801662; longitude = -136.097116; duration = 487; initialDepth = 692.716203; finalDepth = 692.786565; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.855805 # Actual altitude: 50.855805 # Commanded vehicle depth: 692.786565 # Seafloor depth: -743.642370 # 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 17 # Segment length 121.870488 meters # Minimum depth: 742.716203 meters looking forward 100.000000 meters along route # Maximum depth: 743.517776 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.716203 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.802753; longitude = -136.097297; duration = 487; initialDepth = 694.199436; finalDepth = 692.716203; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.855805 # Actual altitude: 50.855805 # Commanded vehicle depth: 692.716203 # Seafloor depth: -742.716203 # 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 17 # Segment length 121.870484 meters # Minimum depth: 744.199436 meters looking forward 100.000000 meters along route # Maximum depth: 751.918220 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.199436 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.803844; longitude = -136.097478; duration = 487; initialDepth = 703.680566; finalDepth = 694.199436; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 694.199436 # Seafloor depth: -744.199436 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 121.870479 meters # Minimum depth: 753.680566 meters looking forward 100.000000 meters along route # Maximum depth: 754.524628 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 703.680566 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.804935; longitude = -136.097659; duration = 487; initialDepth = 702.391242; finalDepth = 703.680566; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.225577 # Actual altitude: 50.225577 # Commanded vehicle depth: 703.680566 # Seafloor depth: -753.906143 # 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 17 # Segment length 121.870474 meters # Minimum depth: 752.391242 meters looking forward 100.000000 meters along route # Maximum depth: 753.162180 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 702.391242 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.806026; longitude = -136.097840; duration = 487; initialDepth = 701.760725; finalDepth = 702.391242; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.770938 # Actual altitude: 50.770938 # Commanded vehicle depth: 702.391242 # Seafloor depth: -753.162180 # 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 17 # Segment length 121.870470 meters # Minimum depth: 751.760725 meters looking forward 100.000000 meters along route # Maximum depth: 752.843155 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 701.760725 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.807117; longitude = -136.098021; duration = 487; initialDepth = 702.880418; finalDepth = 701.760725; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.87356 # Actual altitude: 50.87356 # Commanded vehicle depth: 701.760725 # Seafloor depth: -752.634285 # 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 17 # Segment length 121.870464 meters # Minimum depth: 752.880418 meters looking forward 100.000000 meters along route # Maximum depth: 761.670019 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 702.880418 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.808208; longitude = -136.098202; duration = 487; initialDepth = 715.523221; finalDepth = 702.880418; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.87356 # Actual altitude: 50.87356 # Commanded vehicle depth: 702.880418 # Seafloor depth: -752.880418 # 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 17 # Segment length 121.870460 meters # Minimum depth: 765.523221 meters looking forward 100.000000 meters along route # Maximum depth: 773.635916 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.523221 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.809299; longitude = -136.098383; duration = 487; initialDepth = 725.489498; finalDepth = 715.523221; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 715.523221 # Seafloor depth: -765.523221 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 121.870456 meters # Minimum depth: 775.489498 meters looking forward 100.000000 meters along route # Maximum depth: 780.938581 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 725.489498 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.810390; longitude = -136.098564; duration = 487; initialDepth = 731.354280; finalDepth = 725.489498; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 725.489498 # Seafloor depth: -775.489498 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 121.870450 meters # Minimum depth: 781.354280 meters looking forward 100.000000 meters along route # Maximum depth: 784.940563 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 731.354280 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.811481; longitude = -136.098745; duration = 487; initialDepth = 735.990412; finalDepth = 731.354280; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 731.35428 # Seafloor depth: -781.354280 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 121.870446 meters # Minimum depth: 785.990412 meters looking forward 100.000000 meters along route # Maximum depth: 788.480301 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 735.990412 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.812573; longitude = -136.098926; duration = 487; initialDepth = 738.970350; finalDepth = 735.990412; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 735.990412 # Seafloor depth: -785.990412 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 113.705990 meters # Minimum depth: 788.970350 meters looking forward 100.000000 meters along route # Maximum depth: 790.200767 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.970350 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.813664; longitude = -136.099107; duration = 454; initialDepth = 740.645930; finalDepth = 738.970350; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 738.97035 # Seafloor depth: -788.970350 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 104.815427 meters # Minimum depth: 790.645930 meters looking forward 100.000000 meters along route # Maximum depth: 791.828498 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.645930 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.814682; longitude = -136.099276; duration = 419; initialDepth = 741.420157; finalDepth = 740.645930; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 740.64593 # Seafloor depth: -790.645930 # 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 16 # Segment length 150.013794 meters # Minimum depth: 791.420157 meters looking forward 100.000000 meters along route # Maximum depth: 791.984299 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.420157 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.815620; longitude = -136.099432; duration = 600; # abortOnTimeout = True; initialDepth = 740.057437; finalDepth = 741.420157; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.5641419999999 # Actual altitude: 50.5641419999999 # Commanded vehicle depth: 741.420157 # Seafloor depth: -791.984299 # 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; } # ####################################################### # # 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 179.789048 meters # Minimum depth: 790.057437 meters looking forward 100.000000 meters along route # Maximum depth: 791.273056 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.057437 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.815546; longitude = -136.103516; duration = 719; # abortOnTimeout = True; initialDepth = 737.111869; finalDepth = 740.057437; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2156189999999 # Actual altitude: 51.2156189999999 # Commanded vehicle depth: 740.057437 # Seafloor depth: -791.273056 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 121.870934 meters # Minimum depth: 787.111869 meters looking forward 100.000000 meters along route # Maximum depth: 789.539521 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 737.111869 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.813936; longitude = -136.103249; duration = 487; initialDepth = 732.616328; finalDepth = 737.111869; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4276520000001 # Actual altitude: 52.4276520000001 # Commanded vehicle depth: 737.111869 # Seafloor depth: -789.539521 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 121.870939 meters # Minimum depth: 782.616328 meters looking forward 100.000000 meters along route # Maximum depth: 786.601031 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 732.616328 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.812845; longitude = -136.103067; duration = 487; initialDepth = 726.177539; finalDepth = 732.616328; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.9847030000001 # Actual altitude: 53.9847030000001 # Commanded vehicle depth: 732.616328 # Seafloor depth: -786.601031 # 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 15 # Segment length 121.870943 meters # Minimum depth: 776.177539 meters looking forward 100.000000 meters along route # Maximum depth: 780.919013 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 726.177539 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.811754; longitude = -136.102886; duration = 487; initialDepth = 716.259178; finalDepth = 726.177539; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7414739999999 # Actual altitude: 54.7414739999999 # Commanded vehicle depth: 726.177539 # Seafloor depth: -780.919013 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 121.870949 meters # Minimum depth: 766.259178 meters looking forward 100.000000 meters along route # Maximum depth: 774.268349 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.259178 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.810663; longitude = -136.102705; duration = 487; initialDepth = 706.641427; finalDepth = 716.259178; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.0091709999999 # Actual altitude: 58.0091709999999 # Commanded vehicle depth: 716.259178 # Seafloor depth: -774.268349 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 121.870953 meters # Minimum depth: 756.641427 meters looking forward 100.000000 meters along route # Maximum depth: 764.774579 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.641427 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.809572; longitude = -136.102523; duration = 487; initialDepth = 697.520811; finalDepth = 706.641427; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.133152 # Actual altitude: 58.133152 # Commanded vehicle depth: 706.641427 # Seafloor depth: -764.774579 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 121.870958 meters # Minimum depth: 747.520811 meters looking forward 100.000000 meters along route # Maximum depth: 754.305085 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.520811 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.808481; longitude = -136.102342; duration = 487; initialDepth = 692.435474; finalDepth = 697.520811; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.133152 # Actual altitude: 58.133152 # Commanded vehicle depth: 697.520811 # Seafloor depth: -754.305085 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 121.870963 meters # Minimum depth: 742.435474 meters looking forward 100.000000 meters along route # Maximum depth: 745.392535 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.435474 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.807390; longitude = -136.102161; duration = 487; initialDepth = 693.542896; finalDepth = 692.435474; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.784274 # Actual altitude: 56.784274 # Commanded vehicle depth: 692.435474 # Seafloor depth: -745.392535 # 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 15 # Segment length 121.870967 meters # Minimum depth: 743.542896 meters looking forward 100.000000 meters along route # Maximum depth: 747.454280 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.542896 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.806299; longitude = -136.101979; duration = 487; initialDepth = 699.050945; finalDepth = 693.542896; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.957061 # Actual altitude: 52.957061 # Commanded vehicle depth: 693.542896 # Seafloor depth: -743.542896 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 121.870973 meters # Minimum depth: 749.050945 meters looking forward 100.000000 meters along route # Maximum depth: 751.536181 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.050945 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.805208; longitude = -136.101798; duration = 487; initialDepth = 693.424939; finalDepth = 699.050945; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 699.050945 # Seafloor depth: -749.050945 # 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 15 # Segment length 121.870977 meters # Minimum depth: 743.424939 meters looking forward 100.000000 meters along route # Maximum depth: 748.337391 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.424939 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.804117; longitude = -136.101617; duration = 487; initialDepth = 692.921469; finalDepth = 693.424939; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.912452 # Actual altitude: 54.912452 # Commanded vehicle depth: 693.424939 # Seafloor depth: -748.337391 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.95; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 121.870982 meters # Minimum depth: 742.921469 meters looking forward 100.000000 meters along route # Maximum depth: 743.218565 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.921469 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.803025; longitude = -136.101436; duration = 487; initialDepth = 693.261832; finalDepth = 692.921469; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.912452 # Actual altitude: 54.912452 # Commanded vehicle depth: 692.921469 # Seafloor depth: -742.921469 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.95; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 121.870987 meters # Minimum depth: 743.261832 meters looking forward 100.000000 meters along route # Maximum depth: 743.573744 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.261832 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.801934; longitude = -136.101254; duration = 487; initialDepth = 692.283693; finalDepth = 693.261832; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 693.261832 # Seafloor depth: -743.261832 # 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 15 # Segment length 121.870991 meters # Minimum depth: 742.283693 meters looking forward 100.000000 meters along route # Maximum depth: 742.509920 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.283693 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.800843; longitude = -136.101073; duration = 487; initialDepth = 692.354995; finalDepth = 692.283693; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.226227 # Actual altitude: 50.226227 # Commanded vehicle depth: 692.283693 # Seafloor depth: -742.509920 # 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 15 # Segment length 121.870997 meters # Minimum depth: 742.354995 meters looking forward 100.000000 meters along route # Maximum depth: 750.653878 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.354995 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.799752; longitude = -136.100892; duration = 487; initialDepth = 705.232155; finalDepth = 692.354995; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.226227 # Actual altitude: 50.226227 # Commanded vehicle depth: 692.354995 # Seafloor depth: -742.354995 # 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 15 # Segment length 121.871001 meters # Minimum depth: 755.232155 meters looking forward 100.000000 meters along route # Maximum depth: 762.832159 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 705.232155 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.798661; longitude = -136.100710; duration = 487; initialDepth = 715.525256; finalDepth = 705.232155; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 705.232155 # Seafloor depth: -755.232155 # 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 15 # Segment length 121.871006 meters # Minimum depth: 765.525256 meters looking forward 100.000000 meters along route # Maximum depth: 770.374620 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.525256 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.797570; longitude = -136.100529; duration = 487; initialDepth = 720.856983; finalDepth = 715.525256; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 715.525256 # Seafloor depth: -765.525256 # 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 15 # Segment length 121.871011 meters # Minimum depth: 770.856983 meters looking forward 100.000000 meters along route # Maximum depth: 773.769568 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.856983 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.796479; longitude = -136.100348; duration = 487; initialDepth = 724.592660; finalDepth = 720.856983; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 720.856983 # Seafloor depth: -770.856983 # 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 15 # Segment length 121.871016 meters # Minimum depth: 774.592660 meters looking forward 100.000000 meters along route # Maximum depth: 776.301871 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 724.592660 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795388; longitude = -136.100167; duration = 487; initialDepth = 726.664467; finalDepth = 724.592660; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 724.59266 # Seafloor depth: -774.592660 # 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 15 # Segment length 121.871020 meters # Minimum depth: 776.664467 meters looking forward 100.000000 meters along route # Maximum depth: 778.730104 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 726.664467 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794297; longitude = -136.099985; duration = 487; initialDepth = 728.792653; finalDepth = 726.664467; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 726.664467 # Seafloor depth: -776.664467 # 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 15 # Segment length 121.871025 meters # Minimum depth: 778.792653 meters looking forward 100.000000 meters along route # Maximum depth: 779.359214 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 728.792653 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.793206; longitude = -136.099804; duration = 487; initialDepth = 729.561814; finalDepth = 728.792653; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 728.792653 # Seafloor depth: -778.792653 # 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 15 # Segment length 121.871030 meters # Minimum depth: 779.561814 meters looking forward 100.000000 meters along route # Maximum depth: 780.250445 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 729.561814 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.792115; longitude = -136.099623; duration = 487; initialDepth = 719.175174; finalDepth = 729.561814; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 729.561814 # Seafloor depth: -779.561814 # 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 15 # Segment length 121.871035 meters # Minimum depth: 769.175174 meters looking forward 100.000000 meters along route # Maximum depth: 779.729793 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.175174 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.791023; longitude = -136.099441; duration = 487; initialDepth = 713.178186; finalDepth = 719.175174; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.554619 # Actual altitude: 60.554619 # Commanded vehicle depth: 719.175174 # Seafloor depth: -779.729793 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 121.871040 meters # Minimum depth: 763.178186 meters looking forward 100.000000 meters along route # Maximum depth: 768.450343 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.178186 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.789932; longitude = -136.099260; duration = 487; initialDepth = 701.354879; finalDepth = 713.178186; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.554619 # Actual altitude: 60.554619 # Commanded vehicle depth: 713.178186 # Seafloor depth: -768.450343 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 121.871044 meters # Minimum depth: 751.354879 meters looking forward 100.000000 meters along route # Maximum depth: 760.570269 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 701.354879 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.788841; longitude = -136.099079; duration = 487; initialDepth = 697.467922; finalDepth = 701.354879; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.2153900000001 # Actual altitude: 59.2153900000001 # Commanded vehicle depth: 701.354879 # Seafloor depth: -760.570269 # 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 15 # Segment length 121.871049 meters # Minimum depth: 747.467922 meters looking forward 100.000000 meters along route # Maximum depth: 750.656382 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.467922 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.787750; longitude = -136.098897; duration = 487; initialDepth = 694.953672; finalDepth = 697.467922; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.2153900000001 # Actual altitude: 59.2153900000001 # Commanded vehicle depth: 697.467922 # Seafloor depth: -750.656382 # 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 15 # Segment length 121.871054 meters # Minimum depth: 744.953672 meters looking forward 100.000000 meters along route # Maximum depth: 747.228069 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.953672 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.786659; longitude = -136.098716; duration = 487; initialDepth = 691.737161; finalDepth = 694.953672; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.18846 # Actual altitude: 53.18846 # Commanded vehicle depth: 694.953672 # Seafloor depth: -747.228069 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 121.871059 meters # Minimum depth: 741.737161 meters looking forward 100.000000 meters along route # Maximum depth: 744.169564 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.737161 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785568; longitude = -136.098535; duration = 487; initialDepth = 688.450043; finalDepth = 691.737161; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.432403 # Actual altitude: 52.432403 # Commanded vehicle depth: 691.737161 # Seafloor depth: -744.169564 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 121.871064 meters # Minimum depth: 738.450043 meters looking forward 100.000000 meters along route # Maximum depth: 741.333767 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.450043 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.784477; longitude = -136.098354; duration = 487; initialDepth = 686.485984; finalDepth = 688.450043; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.8837239999999 # Actual altitude: 52.8837239999999 # Commanded vehicle depth: 688.450043 # Seafloor depth: -741.333767 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 113.791392 meters # Minimum depth: 736.485984 meters looking forward 100.000000 meters along route # Maximum depth: 738.204591 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 686.485984 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.783386; longitude = -136.098172; duration = 455; initialDepth = 686.195297; finalDepth = 686.485984; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.8837239999999 # Actual altitude: 52.8837239999999 # Commanded vehicle depth: 686.485984 # Seafloor depth: -738.204591 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 150.006290 meters # Minimum depth: 736.195297 meters looking forward 100.000000 meters along route # Maximum depth: 737.847123 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 686.195297 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.782367; longitude = -136.098003; duration = 600; # abortOnTimeout = True; initialDepth = 687.394836; finalDepth = 686.195297; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.718607 # Actual altitude: 51.718607 # Commanded vehicle depth: 686.195297 # Seafloor depth: -736.195297 # 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; } # ####################################################### # # 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 91.589453 meters # Minimum depth: 737.394836 meters looking forward 100.000000 meters along route # Maximum depth: 738.925416 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.394836 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.782293; longitude = -136.102080; duration = 366; # abortOnTimeout = True; initialDepth = 689.538845; finalDepth = 687.394836; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 687.394836 # Seafloor depth: -737.394836 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 121.871468 meters # Minimum depth: 739.538845 meters looking forward 100.000000 meters along route # Maximum depth: 741.329572 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.538845 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.783113; longitude = -136.102216; duration = 487; initialDepth = 691.993903; finalDepth = 689.538845; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 689.538845 # Seafloor depth: -739.538845 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 121.871464 meters # Minimum depth: 741.993903 meters looking forward 100.000000 meters along route # Maximum depth: 744.390169 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.993903 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.784204; longitude = -136.102398; duration = 487; initialDepth = 694.816145; finalDepth = 691.993903; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 691.993903 # Seafloor depth: -741.993903 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 121.871458 meters # Minimum depth: 744.816145 meters looking forward 100.000000 meters along route # Maximum depth: 746.831354 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.816145 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785295; longitude = -136.102579; duration = 487; initialDepth = 697.581945; finalDepth = 694.816145; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 694.816145 # Seafloor depth: -744.816145 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 121.871454 meters # Minimum depth: 747.581945 meters looking forward 100.000000 meters along route # Maximum depth: 749.793973 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.581945 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.786386; longitude = -136.102761; duration = 487; initialDepth = 700.378709; finalDepth = 697.581945; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 697.581945 # Seafloor depth: -747.581945 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 121.871449 meters # Minimum depth: 750.378709 meters looking forward 100.000000 meters along route # Maximum depth: 753.984930 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.378709 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.787477; longitude = -136.102942; duration = 487; initialDepth = 706.174464; finalDepth = 700.378709; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 700.378709 # Seafloor depth: -750.378709 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 121.871444 meters # Minimum depth: 756.174464 meters looking forward 100.000000 meters along route # Maximum depth: 762.666335 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.174464 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.788568; longitude = -136.103124; duration = 487; initialDepth = 715.143381; finalDepth = 706.174464; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 706.174464 # Seafloor depth: -756.174464 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 121.871439 meters # Minimum depth: 765.143381 meters looking forward 100.000000 meters along route # Maximum depth: 770.732229 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.143381 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.789660; longitude = -136.103305; duration = 487; initialDepth = 721.958948; finalDepth = 715.143381; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 715.143381 # Seafloor depth: -765.143381 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 121.871435 meters # Minimum depth: 771.958948 meters looking forward 100.000000 meters along route # Maximum depth: 779.988082 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.958948 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.790751; longitude = -136.103487; duration = 487; initialDepth = 729.867616; finalDepth = 721.958948; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 721.958948 # Seafloor depth: -771.958948 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 121.871429 meters # Minimum depth: 779.867616 meters looking forward 100.000000 meters along route # Maximum depth: 780.408104 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 729.867616 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.791842; longitude = -136.103668; duration = 487; initialDepth = 728.641473; finalDepth = 729.867616; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.540488 # Actual altitude: 50.540488 # Commanded vehicle depth: 729.867616 # Seafloor depth: -780.408104 # 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 13 # Segment length 121.871425 meters # Minimum depth: 778.641473 meters looking forward 100.000000 meters along route # Maximum depth: 779.669909 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 728.641473 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.792933; longitude = -136.103850; duration = 487; initialDepth = 726.160266; finalDepth = 728.641473; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0284359999999 # Actual altitude: 51.0284359999999 # Commanded vehicle depth: 728.641473 # Seafloor depth: -779.669909 # 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 13 # Segment length 121.871420 meters # Minimum depth: 776.160266 meters looking forward 100.000000 meters along route # Maximum depth: 778.184273 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 726.160266 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794024; longitude = -136.104031; duration = 487; initialDepth = 723.705598; finalDepth = 726.160266; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.024007 # Actual altitude: 52.024007 # Commanded vehicle depth: 726.160266 # Seafloor depth: -778.184273 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 121.871415 meters # Minimum depth: 773.705598 meters looking forward 100.000000 meters along route # Maximum depth: 775.935762 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 723.705598 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795115; longitude = -136.104213; duration = 487; initialDepth = 721.347799; finalDepth = 723.705598; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2301639999999 # Actual altitude: 52.2301639999999 # Commanded vehicle depth: 723.705598 # Seafloor depth: -775.935762 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 121.871410 meters # Minimum depth: 771.347799 meters looking forward 100.000000 meters along route # Maximum depth: 773.102210 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.347799 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.796206; longitude = -136.104394; duration = 487; initialDepth = 718.354566; finalDepth = 721.347799; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2301639999999 # Actual altitude: 52.2301639999999 # Commanded vehicle depth: 721.347799 # Seafloor depth: -773.102210 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 121.871405 meters # Minimum depth: 768.354566 meters looking forward 100.000000 meters along route # Maximum depth: 770.933404 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.354566 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.797297; longitude = -136.104576; duration = 487; initialDepth = 712.457467; finalDepth = 718.354566; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.578838 # Actual altitude: 52.578838 # Commanded vehicle depth: 718.354566 # Seafloor depth: -770.933404 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 121.871401 meters # Minimum depth: 762.457467 meters looking forward 100.000000 meters along route # Maximum depth: 767.481126 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.457467 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.798388; longitude = -136.104757; duration = 487; initialDepth = 697.975607; finalDepth = 712.457467; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.0236590000001 # Actual altitude: 55.0236590000001 # Commanded vehicle depth: 712.457467 # Seafloor depth: -767.481126 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 121.871395 meters # Minimum depth: 747.975607 meters looking forward 100.000000 meters along route # Maximum depth: 756.537979 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.975607 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.799479; longitude = -136.104939; duration = 487; initialDepth = 694.901309; finalDepth = 697.975607; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.562372 # Actual altitude: 58.562372 # Commanded vehicle depth: 697.975607 # Seafloor depth: -756.537979 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 121.871391 meters # Minimum depth: 744.901309 meters looking forward 100.000000 meters along route # Maximum depth: 747.156594 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.901309 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.800570; longitude = -136.105120; duration = 487; initialDepth = 694.555417; finalDepth = 694.901309; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.562372 # Actual altitude: 58.562372 # Commanded vehicle depth: 694.901309 # Seafloor depth: -747.156594 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 121.871386 meters # Minimum depth: 744.555417 meters looking forward 100.000000 meters along route # Maximum depth: 747.711485 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.555417 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.801662; longitude = -136.105302; duration = 487; initialDepth = 699.235737; finalDepth = 694.555417; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2552850000001 # Actual altitude: 52.2552850000001 # Commanded vehicle depth: 694.555417 # Seafloor depth: -744.555417 # 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 13 # Segment length 121.871381 meters # Minimum depth: 749.235737 meters looking forward 100.000000 meters along route # Maximum depth: 759.017219 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.235737 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.802753; longitude = -136.105483; duration = 487; initialDepth = 706.051935; finalDepth = 699.235737; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 699.235737 # Seafloor depth: -749.235737 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 121.871376 meters # Minimum depth: 756.051935 meters looking forward 100.000000 meters along route # Maximum depth: 759.672831 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.051935 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.803844; longitude = -136.105665; duration = 487; initialDepth = 701.660381; finalDepth = 706.051935; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.620896 # Actual altitude: 53.620896 # Commanded vehicle depth: 706.051935 # Seafloor depth: -759.672831 # 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 13 # Segment length 121.871372 meters # Minimum depth: 751.660381 meters looking forward 100.000000 meters along route # Maximum depth: 755.407411 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 701.660381 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.804935; longitude = -136.105846; duration = 487; initialDepth = 699.954098; finalDepth = 701.660381; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.74703 # Actual altitude: 53.74703 # Commanded vehicle depth: 701.660381 # Seafloor depth: -755.407411 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 121.871366 meters # Minimum depth: 749.954098 meters looking forward 100.000000 meters along route # Maximum depth: 750.670783 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.954098 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.806026; longitude = -136.106028; duration = 487; initialDepth = 701.034706; finalDepth = 699.954098; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.74703 # Actual altitude: 53.74703 # Commanded vehicle depth: 699.954098 # Seafloor depth: -750.670783 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 121.871362 meters # Minimum depth: 751.034706 meters looking forward 100.000000 meters along route # Maximum depth: 755.910233 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 701.034706 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.807117; longitude = -136.106209; duration = 487; initialDepth = 706.659405; finalDepth = 701.034706; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.716685 # Actual altitude: 50.716685 # Commanded vehicle depth: 701.034706 # Seafloor depth: -751.034706 # 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 13 # Segment length 121.871357 meters # Minimum depth: 756.659405 meters looking forward 100.000000 meters along route # Maximum depth: 763.003284 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.659405 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.808208; longitude = -136.106391; duration = 487; initialDepth = 715.345142; finalDepth = 706.659405; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 706.659405 # Seafloor depth: -756.659405 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 121.871352 meters # Minimum depth: 765.345142 meters looking forward 100.000000 meters along route # Maximum depth: 771.943217 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.345142 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.809299; longitude = -136.106572; duration = 487; initialDepth = 723.802947; finalDepth = 715.345142; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 715.345142 # Seafloor depth: -765.345142 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.684721 meters # Minimum depth: 773.802947 meters looking forward 100.000000 meters along route # Maximum depth: 778.997847 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 723.802947 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.810390; longitude = -136.106754; duration = 430; initialDepth = 729.758899; finalDepth = 723.802947; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 723.802947 # Seafloor depth: -773.802947 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 105.590133 meters # Minimum depth: 779.758899 meters looking forward 100.000000 meters along route # Maximum depth: 783.170852 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 729.758899 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.811354; longitude = -136.106914; duration = 422; initialDepth = 734.479150; finalDepth = 729.758899; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 729.758899 # Seafloor depth: -779.758899 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 121.871339 meters # Minimum depth: 784.479150 meters looking forward 100.000000 meters along route # Maximum depth: 787.022031 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 734.479150 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.812300; longitude = -136.107071; duration = 487; initialDepth = 737.452802; finalDepth = 734.479150; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 734.47915 # Seafloor depth: -784.479150 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 121.871334 meters # Minimum depth: 787.452802 meters looking forward 100.000000 meters along route # Maximum depth: 788.934508 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 737.452802 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.813391; longitude = -136.107253; duration = 487; initialDepth = 739.160453; finalDepth = 737.452802; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 737.452802 # Seafloor depth: -787.452802 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 110.700130 meters # Minimum depth: 789.160453 meters looking forward 100.000000 meters along route # Maximum depth: 789.734265 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.160453 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.814482; longitude = -136.107434; duration = 442; initialDepth = 739.644199; finalDepth = 739.160453; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 739.160453 # Seafloor depth: -789.160453 # 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 12 # Segment length 150.014941 meters # Minimum depth: 789.644199 meters looking forward 100.000000 meters along route # Maximum depth: 789.871933 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.644199 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.815473; longitude = -136.107599; duration = 600; # abortOnTimeout = True; initialDepth = 738.163413; finalDepth = 739.644199; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.2277340000001 # Actual altitude: 50.2277340000001 # Commanded vehicle depth: 739.644199 # Seafloor depth: -789.871933 # 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; } # ####################################################### # # 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 163.370912 meters # Minimum depth: 788.163413 meters looking forward 100.000000 meters along route # Maximum depth: 789.894135 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.163413 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.815399; longitude = -136.111683; duration = 653; # abortOnTimeout = True; initialDepth = 736.563630; finalDepth = 738.163413; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.730722 # Actual altitude: 51.730722 # Commanded vehicle depth: 738.163413 # Seafloor depth: -789.894135 # 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 11 # Segment length 121.871827 meters # Minimum depth: 786.563630 meters looking forward 100.000000 meters along route # Maximum depth: 787.872852 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 736.563630 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.813936; longitude = -136.111439; duration = 487; initialDepth = 733.942663; finalDepth = 736.563630; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.730722 # Actual altitude: 51.730722 # Commanded vehicle depth: 736.56363 # Seafloor depth: -787.872852 # 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 11 # Segment length 121.871832 meters # Minimum depth: 783.942663 meters looking forward 100.000000 meters along route # Maximum depth: 786.317532 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 733.942663 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.812845; longitude = -136.111258; duration = 487; initialDepth = 729.750749; finalDepth = 733.942663; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.374869 # Actual altitude: 52.374869 # Commanded vehicle depth: 733.942663 # Seafloor depth: -786.317532 # 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 11 # Segment length 121.871837 meters # Minimum depth: 779.750749 meters looking forward 100.000000 meters along route # Maximum depth: 783.044035 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 729.750749 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.811754; longitude = -136.111076; duration = 487; initialDepth = 723.449653; finalDepth = 729.750749; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.293286 # Actual altitude: 53.293286 # Commanded vehicle depth: 729.750749 # Seafloor depth: -783.044035 # 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 11 # Segment length 121.871841 meters # Minimum depth: 773.449653 meters looking forward 100.000000 meters along route # Maximum depth: 778.436508 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 723.449653 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.810663; longitude = -136.110894; duration = 487; initialDepth = 718.406195; finalDepth = 723.449653; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.986855 # Actual altitude: 54.986855 # Commanded vehicle depth: 723.449653 # Seafloor depth: -778.436508 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 121.871847 meters # Minimum depth: 768.406195 meters looking forward 100.000000 meters along route # Maximum depth: 772.786687 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.406195 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.809572; longitude = -136.110713; duration = 487; initialDepth = 713.845021; finalDepth = 718.406195; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.986855 # Actual altitude: 54.986855 # Commanded vehicle depth: 718.406195 # Seafloor depth: -772.786687 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 121.871851 meters # Minimum depth: 763.845021 meters looking forward 100.000000 meters along route # Maximum depth: 766.949901 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.845021 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.808481; longitude = -136.110531; duration = 487; initialDepth = 711.911791; finalDepth = 713.845021; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.380492 # Actual altitude: 54.380492 # Commanded vehicle depth: 713.845021 # Seafloor depth: -766.949901 # 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 11 # Segment length 121.871857 meters # Minimum depth: 761.911791 meters looking forward 100.000000 meters along route # Maximum depth: 763.263145 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.911791 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.807390; longitude = -136.110349; duration = 487; initialDepth = 711.798048; finalDepth = 711.911791; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.10488 # Actual altitude: 53.10488 # Commanded vehicle depth: 711.911791 # Seafloor depth: -763.263145 # 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 11 # Segment length 121.871861 meters # Minimum depth: 761.798048 meters looking forward 100.000000 meters along route # Maximum depth: 762.230155 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.798048 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.806299; longitude = -136.110167; duration = 487; initialDepth = 712.634855; finalDepth = 711.798048; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.351354 # Actual altitude: 51.351354 # Commanded vehicle depth: 711.798048 # Seafloor depth: -761.830740 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 121.871866 meters # Minimum depth: 762.634855 meters looking forward 100.000000 meters along route # Maximum depth: 764.376575 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.634855 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.805208; longitude = -136.109986; duration = 487; initialDepth = 715.104169; finalDepth = 712.634855; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.032692 # Actual altitude: 50.032692 # Commanded vehicle depth: 712.634855 # Seafloor depth: -762.634855 # 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 11 # Segment length 121.871871 meters # Minimum depth: 765.104169 meters looking forward 100.000000 meters along route # Maximum depth: 767.233018 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.104169 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.804117; longitude = -136.109804; duration = 487; initialDepth = 717.280952; finalDepth = 715.104169; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 715.104169 # Seafloor depth: -765.104169 # 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 121.871876 meters # Minimum depth: 767.280952 meters looking forward 100.000000 meters along route # Maximum depth: 768.242285 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.280952 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.803025; longitude = -136.109622; duration = 487; initialDepth = 714.527782; finalDepth = 717.280952; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1570680000001 # Actual altitude: 50.1570680000001 # Commanded vehicle depth: 717.280952 # Seafloor depth: -767.438020 # 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 121.871881 meters # Minimum depth: 764.527782 meters looking forward 100.000000 meters along route # Maximum depth: 766.359448 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.527782 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.801934; longitude = -136.109440; duration = 487; initialDepth = 714.993908; finalDepth = 714.527782; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.831666 # Actual altitude: 51.831666 # Commanded vehicle depth: 714.527782 # Seafloor depth: -766.359448 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 121.871886 meters # Minimum depth: 764.993908 meters looking forward 100.000000 meters along route # Maximum depth: 767.314620 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.993908 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.800843; longitude = -136.109259; duration = 487; initialDepth = 717.832455; finalDepth = 714.993908; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.831666 # Actual altitude: 51.831666 # Commanded vehicle depth: 714.993908 # Seafloor depth: -764.993908 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 121.871890 meters # Minimum depth: 767.832455 meters looking forward 100.000000 meters along route # Maximum depth: 771.187344 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.832455 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.799752; longitude = -136.109077; duration = 487; initialDepth = 722.211762; finalDepth = 717.832455; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 717.832455 # Seafloor depth: -767.832455 # 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 121.871896 meters # Minimum depth: 772.211762 meters looking forward 100.000000 meters along route # Maximum depth: 774.244760 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 722.211762 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.798661; longitude = -136.108895; duration = 487; initialDepth = 724.386985; finalDepth = 722.211762; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 722.211762 # Seafloor depth: -772.211762 # 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 121.871900 meters # Minimum depth: 774.386985 meters looking forward 100.000000 meters along route # Maximum depth: 775.588673 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 724.386985 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.797570; longitude = -136.108714; duration = 487; initialDepth = 725.674598; finalDepth = 724.386985; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 724.386985 # Seafloor depth: -774.386985 # 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 121.871906 meters # Minimum depth: 775.674598 meters looking forward 100.000000 meters along route # Maximum depth: 776.168415 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 725.674598 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.796479; longitude = -136.108532; duration = 487; initialDepth = 726.691055; finalDepth = 725.674598; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.123511 # Actual altitude: 50.123511 # Commanded vehicle depth: 725.674598 # Seafloor depth: -775.798109 # 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 11 # Segment length 121.871910 meters # Minimum depth: 776.691055 meters looking forward 100.000000 meters along route # Maximum depth: 778.336582 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 726.691055 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795388; longitude = -136.108350; duration = 487; initialDepth = 728.592607; finalDepth = 726.691055; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.123511 # Actual altitude: 50.123511 # Commanded vehicle depth: 726.691055 # Seafloor depth: -776.691055 # 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 11 # Segment length 121.871915 meters # Minimum depth: 778.592607 meters looking forward 100.000000 meters along route # Maximum depth: 779.304500 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 728.592607 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794297; longitude = -136.108168; duration = 487; initialDepth = 729.341609; finalDepth = 728.592607; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 728.592607 # Seafloor depth: -778.592607 # 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 121.871920 meters # Minimum depth: 779.341609 meters looking forward 100.000000 meters along route # Maximum depth: 779.902119 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 729.341609 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.793206; longitude = -136.107987; duration = 487; initialDepth = 721.955860; finalDepth = 729.341609; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 729.341609 # Seafloor depth: -779.341609 # 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 121.871925 meters # Minimum depth: 771.955860 meters looking forward 100.000000 meters along route # Maximum depth: 779.817794 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.955860 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.792115; longitude = -136.107805; duration = 487; initialDepth = 714.846039; finalDepth = 721.955860; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.861934 # Actual altitude: 57.861934 # Commanded vehicle depth: 721.95586 # Seafloor depth: -779.817794 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 121.871929 meters # Minimum depth: 764.846039 meters looking forward 100.000000 meters along route # Maximum depth: 770.901727 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.846039 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.791023; longitude = -136.107623; duration = 487; initialDepth = 706.791978; finalDepth = 714.846039; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.861934 # Actual altitude: 57.861934 # Commanded vehicle depth: 714.846039 # Seafloor depth: -770.901727 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 121.871935 meters # Minimum depth: 756.791978 meters looking forward 100.000000 meters along route # Maximum depth: 763.463217 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.791978 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.789932; longitude = -136.107441; duration = 487; initialDepth = 700.941754; finalDepth = 706.791978; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.671239 # Actual altitude: 56.671239 # Commanded vehicle depth: 706.791978 # Seafloor depth: -763.463217 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 121.871940 meters # Minimum depth: 750.941754 meters looking forward 100.000000 meters along route # Maximum depth: 755.813054 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.941754 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.788841; longitude = -136.107260; duration = 487; initialDepth = 697.805337; finalDepth = 700.941754; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.671239 # Actual altitude: 56.671239 # Commanded vehicle depth: 700.941754 # Seafloor depth: -755.813054 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 121.871944 meters # Minimum depth: 747.805337 meters looking forward 100.000000 meters along route # Maximum depth: 750.313922 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.805337 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.787750; longitude = -136.107078; duration = 487; initialDepth = 695.898202; finalDepth = 697.805337; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8713 # Actual altitude: 54.8713 # Commanded vehicle depth: 697.805337 # Seafloor depth: -750.313922 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 121.871949 meters # Minimum depth: 745.898202 meters looking forward 100.000000 meters along route # Maximum depth: 747.607401 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.898202 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.786659; longitude = -136.106896; duration = 487; initialDepth = 693.283850; finalDepth = 695.898202; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.508585 # Actual altitude: 52.508585 # Commanded vehicle depth: 695.898202 # Seafloor depth: -747.607401 # 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 11 # Segment length 121.871955 meters # Minimum depth: 743.283850 meters looking forward 100.000000 meters along route # Maximum depth: 745.164056 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.283850 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785568; longitude = -136.106715; duration = 487; initialDepth = 691.136937; finalDepth = 693.283850; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8802059999999 # Actual altitude: 51.8802059999999 # Commanded vehicle depth: 693.28385 # Seafloor depth: -745.164056 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 121.871959 meters # Minimum depth: 741.136937 meters looking forward 100.000000 meters along route # Maximum depth: 742.771758 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.136937 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.784477; longitude = -136.106533; duration = 487; initialDepth = 688.872366; finalDepth = 691.136937; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8802059999999 # Actual altitude: 51.8802059999999 # Commanded vehicle depth: 691.136937 # Seafloor depth: -742.771758 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 130.211701 meters # Minimum depth: 738.872366 meters looking forward 100.000000 meters along route # Maximum depth: 740.988587 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.872366 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.783386; longitude = -136.106351; duration = 520; initialDepth = 688.189482; finalDepth = 688.872366; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.116221 # Actual altitude: 52.116221 # Commanded vehicle depth: 688.872366 # Seafloor depth: -740.988587 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 150.007435 meters # Minimum depth: 738.189482 meters looking forward 100.000000 meters along route # Maximum depth: 738.585098 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.189482 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.782220; longitude = -136.106157; duration = 600; # abortOnTimeout = True; initialDepth = 688.393082; finalDepth = 688.189482; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.116221 # Actual altitude: 52.116221 # Commanded vehicle depth: 688.189482 # Seafloor depth: -738.585098 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 168.945944 meters # Minimum depth: 738.393082 meters looking forward 100.000000 meters along route # Maximum depth: 741.049220 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.393082 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.782146; longitude = -136.110234; duration = 675; # abortOnTimeout = True; initialDepth = 691.423982; finalDepth = 688.393082; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.395616 # Actual altitude: 50.395616 # Commanded vehicle depth: 688.393082 # Seafloor depth: -738.393082 # 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 121.872439 meters # Minimum depth: 741.423982 meters looking forward 100.000000 meters along route # Maximum depth: 742.715769 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.423982 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.783659; longitude = -136.110486; duration = 487; initialDepth = 693.297041; finalDepth = 691.423982; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 691.423982 # Seafloor depth: -741.423982 # 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 121.872435 meters # Minimum depth: 743.297041 meters looking forward 100.000000 meters along route # Maximum depth: 744.467664 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.297041 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.784750; longitude = -136.110668; duration = 487; initialDepth = 695.023078; finalDepth = 693.297041; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 693.297041 # Seafloor depth: -743.297041 # 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 121.872430 meters # Minimum depth: 745.023078 meters looking forward 100.000000 meters along route # Maximum depth: 747.150225 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.023078 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785841; longitude = -136.110850; duration = 487; initialDepth = 697.515415; finalDepth = 695.023078; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 695.023078 # Seafloor depth: -745.023078 # 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 121.872425 meters # Minimum depth: 747.515415 meters looking forward 100.000000 meters along route # Maximum depth: 749.346471 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.515415 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.786932; longitude = -136.111032; duration = 487; initialDepth = 699.951326; finalDepth = 697.515415; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 697.515415 # Seafloor depth: -747.515415 # 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 121.872419 meters # Minimum depth: 749.951326 meters looking forward 100.000000 meters along route # Maximum depth: 752.712580 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.951326 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.788023; longitude = -136.111214; duration = 487; initialDepth = 704.992280; finalDepth = 699.951326; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 699.951326 # Seafloor depth: -749.951326 # 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 121.872415 meters # Minimum depth: 754.992280 meters looking forward 100.000000 meters along route # Maximum depth: 760.451270 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 704.992280 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.789114; longitude = -136.111396; duration = 487; initialDepth = 710.924269; finalDepth = 704.992280; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 704.99228 # Seafloor depth: -754.992280 # 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 121.872410 meters # Minimum depth: 760.924269 meters looking forward 100.000000 meters along route # Maximum depth: 768.369360 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.924269 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.790205; longitude = -136.111578; duration = 487; initialDepth = 719.780225; finalDepth = 710.924269; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 710.924269 # Seafloor depth: -760.924269 # 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 121.872405 meters # Minimum depth: 769.780225 meters looking forward 100.000000 meters along route # Maximum depth: 772.141620 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.780225 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.791296; longitude = -136.111760; duration = 487; initialDepth = 724.949470; finalDepth = 719.780225; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 719.780225 # Seafloor depth: -769.780225 # 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 121.872400 meters # Minimum depth: 774.949470 meters looking forward 100.000000 meters along route # Maximum depth: 779.334725 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 724.949470 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.792387; longitude = -136.111942; duration = 487; initialDepth = 729.130188; finalDepth = 724.949470; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 724.94947 # Seafloor depth: -774.949470 # 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 121.872395 meters # Minimum depth: 779.130188 meters looking forward 100.000000 meters along route # Maximum depth: 779.369472 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 729.130188 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.793478; longitude = -136.112124; duration = 487; initialDepth = 728.159455; finalDepth = 729.130188; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 729.130188 # Seafloor depth: -779.130188 # 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 121.872391 meters # Minimum depth: 778.159455 meters looking forward 100.000000 meters along route # Maximum depth: 779.325187 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 728.159455 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794569; longitude = -136.112306; duration = 487; initialDepth = 725.938458; finalDepth = 728.159455; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.165732 # Actual altitude: 51.165732 # Commanded vehicle depth: 728.159455 # Seafloor depth: -779.325187 # 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 9 # Segment length 121.872385 meters # Minimum depth: 775.938458 meters looking forward 100.000000 meters along route # Maximum depth: 778.019386 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 725.938458 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795661; longitude = -136.112488; duration = 487; initialDepth = 724.460499; finalDepth = 725.938458; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0809280000001 # Actual altitude: 52.0809280000001 # Commanded vehicle depth: 725.938458 # Seafloor depth: -778.019386 # 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 9 # Segment length 121.872380 meters # Minimum depth: 774.460499 meters looking forward 100.000000 meters along route # Maximum depth: 775.432810 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 724.460499 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.796752; longitude = -136.112670; duration = 487; initialDepth = 723.536077; finalDepth = 724.460499; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0809280000001 # Actual altitude: 52.0809280000001 # Commanded vehicle depth: 724.460499 # Seafloor depth: -775.432810 # 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 9 # Segment length 121.872376 meters # Minimum depth: 773.536077 meters looking forward 100.000000 meters along route # Maximum depth: 774.175212 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 723.536077 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.797843; longitude = -136.112852; duration = 487; initialDepth = 722.205891; finalDepth = 723.536077; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.972311 # Actual altitude: 50.972311 # Commanded vehicle depth: 723.536077 # Seafloor depth: -774.175212 # 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 9 # Segment length 121.872370 meters # Minimum depth: 772.205891 meters looking forward 100.000000 meters along route # Maximum depth: 773.060718 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 722.205891 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.798934; longitude = -136.113034; duration = 487; initialDepth = 722.115113; finalDepth = 722.205891; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.854827 # Actual altitude: 50.854827 # Commanded vehicle depth: 722.205891 # Seafloor depth: -773.060718 # 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 9 # Segment length 121.872365 meters # Minimum depth: 772.115113 meters looking forward 100.000000 meters along route # Maximum depth: 772.982624 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 722.115113 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.800025; longitude = -136.113216; duration = 487; initialDepth = 721.306063; finalDepth = 722.115113; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.867511 # Actual altitude: 50.867511 # Commanded vehicle depth: 722.115113 # Seafloor depth: -772.982624 # 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 121.872361 meters # Minimum depth: 771.306063 meters looking forward 100.000000 meters along route # Maximum depth: 771.965119 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.306063 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.801116; longitude = -136.113397; duration = 487; initialDepth = 721.756856; finalDepth = 721.306063; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.867511 # Actual altitude: 50.867511 # Commanded vehicle depth: 721.306063 # Seafloor depth: -771.965119 # 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 121.872356 meters # Minimum depth: 771.756856 meters looking forward 100.000000 meters along route # Maximum depth: 772.178607 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.756856 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.802207; longitude = -136.113579; duration = 487; initialDepth = 721.233634; finalDepth = 721.756856; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.659056 # Actual altitude: 50.659056 # Commanded vehicle depth: 721.756856 # Seafloor depth: -771.756856 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 121.872350 meters # Minimum depth: 771.233634 meters looking forward 100.000000 meters along route # Maximum depth: 771.763086 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.233634 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.803298; longitude = -136.113761; duration = 487; initialDepth = 720.031991; finalDepth = 721.233634; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.529452 # Actual altitude: 50.529452 # Commanded vehicle depth: 721.233634 # Seafloor depth: -771.763086 # 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 9 # Segment length 121.872346 meters # Minimum depth: 770.031991 meters looking forward 100.000000 meters along route # Maximum depth: 770.831733 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.031991 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.804389; longitude = -136.113943; duration = 487; initialDepth = 719.873326; finalDepth = 720.031991; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.799742 # Actual altitude: 50.799742 # Commanded vehicle depth: 720.031991 # Seafloor depth: -770.831733 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 121.872341 meters # Minimum depth: 769.873326 meters looking forward 100.000000 meters along route # Maximum depth: 770.245497 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.873326 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.805480; longitude = -136.114125; duration = 487; initialDepth = 720.438913; finalDepth = 719.873326; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.799742 # Actual altitude: 50.799742 # Commanded vehicle depth: 719.873326 # Seafloor depth: -770.075833 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 121.872336 meters # Minimum depth: 770.438913 meters looking forward 100.000000 meters along route # Maximum depth: 771.908628 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.438913 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.806571; longitude = -136.114307; duration = 487; initialDepth = 722.535815; finalDepth = 720.438913; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.202507 # Actual altitude: 50.202507 # Commanded vehicle depth: 720.438913 # Seafloor depth: -770.438913 # 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 121.872331 meters # Minimum depth: 772.535815 meters looking forward 100.000000 meters along route # Maximum depth: 774.772510 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 722.535815 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.807663; longitude = -136.114489; duration = 487; initialDepth = 725.445971; finalDepth = 722.535815; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 722.535815 # Seafloor depth: -772.535815 # 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 121.872326 meters # Minimum depth: 775.445971 meters looking forward 100.000000 meters along route # Maximum depth: 778.970817 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 725.445971 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.808754; longitude = -136.114671; duration = 487; initialDepth = 729.542466; finalDepth = 725.445971; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 725.445971 # Seafloor depth: -775.445971 # 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 121.872321 meters # Minimum depth: 779.542466 meters looking forward 100.000000 meters along route # Maximum depth: 782.213166 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 729.542466 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.809845; longitude = -136.114853; duration = 487; initialDepth = 732.970433; finalDepth = 729.542466; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 729.542466 # Seafloor depth: -779.542466 # 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 121.872316 meters # Minimum depth: 782.970433 meters looking forward 100.000000 meters along route # Maximum depth: 785.006991 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 732.970433 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.810936; longitude = -136.115035; duration = 487; initialDepth = 735.518325; finalDepth = 732.970433; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 732.970433 # Seafloor depth: -782.970433 # 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 121.872311 meters # Minimum depth: 785.518325 meters looking forward 100.000000 meters along route # Maximum depth: 786.735144 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 735.518325 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.812027; longitude = -136.115217; duration = 487; initialDepth = 736.987228; finalDepth = 735.518325; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 735.518325 # Seafloor depth: -785.518325 # 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 121.872306 meters # Minimum depth: 786.987228 meters looking forward 100.000000 meters along route # Maximum depth: 788.031400 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 736.987228 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.813118; longitude = -136.115399; duration = 487; initialDepth = 738.311594; finalDepth = 736.987228; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 736.987228 # Seafloor depth: -786.987228 # 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 124.637873 meters # Minimum depth: 788.311594 meters looking forward 100.000000 meters along route # Maximum depth: 790.167650 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.311594 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.814209; longitude = -136.115581; duration = 498; initialDepth = 738.329540; finalDepth = 738.311594; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 738.311594 # Seafloor depth: -788.311594 # 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 154.764181 meters # Minimum depth: 788.329540 meters looking forward 100.000000 meters along route # Maximum depth: 790.235382 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.329540 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.815325; longitude = -136.115767; duration = 619; # abortOnTimeout = True; initialDepth = 737.910510; finalDepth = 738.329540; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.905842 # Actual altitude: 51.905842 # Commanded vehicle depth: 738.32954 # Seafloor depth: -790.235382 # 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 8 # Segment length 108.681328 meters # Minimum depth: 787.910510 meters looking forward 100.000000 meters along route # Maximum depth: 788.299529 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 737.910510 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.814168; longitude = -136.118098; duration = 434; initialDepth = 737.442222; finalDepth = 737.910510; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.905842 # Actual altitude: 51.905842 # Commanded vehicle depth: 737.91051 # Seafloor depth: -788.299529 # 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 8 # Segment length 107.426223 meters # Minimum depth: 787.442222 meters looking forward 100.000000 meters along route # Maximum depth: 788.029844 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 737.442222 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.813356; longitude = -136.119734; duration = 429; initialDepth = 737.229132; finalDepth = 737.442222; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.4771039999999 # Actual altitude: 50.4771039999999 # Commanded vehicle depth: 737.442222 # Seafloor depth: -787.919326 # 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; } # ####################################################### # # 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 109.463119 meters # Minimum depth: 787.229132 meters looking forward 100.000000 meters along route # Maximum depth: 787.618118 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 737.229132 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.812553; longitude = -136.121352; duration = 437; # abortOnTimeout = True; initialDepth = 736.377928; finalDepth = 737.229132; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4771039999999 # Actual altitude: 50.4771039999999 # Commanded vehicle depth: 737.229132 # Seafloor depth: -787.253937 # 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 7 # Segment length 100.143210 meters # Minimum depth: 786.377928 meters looking forward 100.000000 meters along route # Maximum depth: 787.119464 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 736.377928 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.812593; longitude = -136.118370; duration = 400; initialDepth = 736.309720; finalDepth = 736.377928; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.741536 # Actual altitude: 50.741536 # Commanded vehicle depth: 736.377928 # Seafloor depth: -787.119464 # 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 7 # Segment length 100.143015 meters # Minimum depth: 786.309720 meters looking forward 100.000000 meters along route # Maximum depth: 786.410799 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 736.309720 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.812630; longitude = -136.115643; duration = 400; initialDepth = 735.929104; finalDepth = 736.309720; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.741536 # Actual altitude: 50.741536 # Commanded vehicle depth: 736.30972 # Seafloor depth: -786.376267 # 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 7 # Segment length 100.142820 meters # Minimum depth: 785.929104 meters looking forward 100.000000 meters along route # Maximum depth: 786.370780 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 735.929104 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.812667; longitude = -136.112915; duration = 400; initialDepth = 735.929090; finalDepth = 735.929104; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4416759999999 # Actual altitude: 50.4416759999999 # Commanded vehicle depth: 735.929104 # Seafloor depth: -786.370780 # 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 100.142625 meters # Minimum depth: 785.929090 meters looking forward 100.000000 meters along route # Maximum depth: 786.050713 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 735.929090 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.812704; longitude = -136.110187; duration = 400; initialDepth = 736.006507; finalDepth = 735.929090; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4416759999999 # Actual altitude: 50.4416759999999 # Commanded vehicle depth: 735.92909 # Seafloor depth: -785.974545 # 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 100.142430 meters # Minimum depth: 786.006507 meters looking forward 100.000000 meters along route # Maximum depth: 786.344203 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 736.006507 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.812741; longitude = -136.107459; duration = 400; initialDepth = 736.147518; finalDepth = 736.006507; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0454550000001 # Actual altitude: 50.0454550000001 # Commanded vehicle depth: 736.006507 # Seafloor depth: -786.006507 # 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 7 # Segment length 100.142235 meters # Minimum depth: 786.147518 meters looking forward 100.000000 meters along route # Maximum depth: 786.462673 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 736.147518 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.812778; longitude = -136.104732; duration = 400; initialDepth = 736.183145; finalDepth = 736.147518; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.077072 # Actual altitude: 50.077072 # Commanded vehicle depth: 736.147518 # Seafloor depth: -786.224590 # 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 7 # Segment length 100.142040 meters # Minimum depth: 786.183145 meters looking forward 100.000000 meters along route # Maximum depth: 786.893767 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 736.183145 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.812815; longitude = -136.102004; duration = 400; initialDepth = 736.958476; finalDepth = 736.183145; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.123337 # Actual altitude: 50.123337 # Commanded vehicle depth: 736.183145 # Seafloor depth: -786.306482 # 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 7 # Segment length 100.141845 meters # Minimum depth: 786.958476 meters looking forward 100.000000 meters along route # Maximum depth: 787.468885 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 736.958476 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.812852; longitude = -136.099276; duration = 400; initialDepth = 737.465696; finalDepth = 736.958476; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.123337 # Actual altitude: 50.123337 # Commanded vehicle depth: 736.958476 # Seafloor depth: -786.958476 # 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 7 # Segment length 100.141651 meters # Minimum depth: 787.465696 meters looking forward 100.000000 meters along route # Maximum depth: 787.712280 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 737.465696 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.812889; longitude = -136.096549; duration = 400; initialDepth = 737.618238; finalDepth = 737.465696; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 737.465696 # Seafloor depth: -787.465696 # 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 100.141455 meters # Minimum depth: 787.618238 meters looking forward 100.000000 meters along route # Maximum depth: 787.895842 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 737.618238 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.812926; longitude = -136.093821; duration = 400; initialDepth = 737.308403; finalDepth = 737.618238; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.082984 # Actual altitude: 50.082984 # Commanded vehicle depth: 737.618238 # Seafloor depth: -787.701222 # 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 7 # Segment length 100.141261 meters # Minimum depth: 787.308403 meters looking forward 100.000000 meters along route # Maximum depth: 787.665867 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 737.308403 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.812963; longitude = -136.091093; duration = 400; initialDepth = 737.042522; finalDepth = 737.308403; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.357464 # Actual altitude: 50.357464 # Commanded vehicle depth: 737.308403 # Seafloor depth: -787.665867 # 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 100.141066 meters # Minimum depth: 787.042522 meters looking forward 100.000000 meters along route # Maximum depth: 787.297286 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 737.042522 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.812999; longitude = -136.088365; duration = 400; initialDepth = 735.504016; finalDepth = 737.042522; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.357464 # Actual altitude: 50.357464 # Commanded vehicle depth: 737.042522 # Seafloor depth: -787.297286 # 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 100.140871 meters # Minimum depth: 785.504016 meters looking forward 100.000000 meters along route # Maximum depth: 786.907440 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 735.504016 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.813036; longitude = -136.085638; duration = 400; initialDepth = 733.100455; finalDepth = 735.504016; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.403424 # Actual altitude: 51.403424 # Commanded vehicle depth: 735.504016 # Seafloor depth: -786.907440 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 100.140677 meters # Minimum depth: 783.100455 meters looking forward 100.000000 meters along route # Maximum depth: 785.220276 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 733.100455 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.813073; longitude = -136.082910; duration = 400; initialDepth = 731.158674; finalDepth = 733.100455; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.119821 # Actual altitude: 52.119821 # Commanded vehicle depth: 733.100455 # Seafloor depth: -785.220276 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 100.140482 meters # Minimum depth: 781.158674 meters looking forward 100.000000 meters along route # Maximum depth: 782.884794 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 731.158674 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.813110; longitude = -136.080182; duration = 400; initialDepth = 730.166707; finalDepth = 731.158674; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.119821 # Actual altitude: 52.119821 # Commanded vehicle depth: 731.158674 # Seafloor depth: -782.884794 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 100.140287 meters # Minimum depth: 780.166707 meters looking forward 100.000000 meters along route # Maximum depth: 780.963535 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 730.166707 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.813147; longitude = -136.077454; duration = 400; initialDepth = 728.771076; finalDepth = 730.166707; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.72612 # Actual altitude: 51.72612 # Commanded vehicle depth: 730.166707 # Seafloor depth: -780.963535 # 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 7 # Segment length 100.140093 meters # Minimum depth: 778.771076 meters looking forward 100.000000 meters along route # Maximum depth: 780.209823 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 728.771076 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.813184; longitude = -136.074727; duration = 400; initialDepth = 726.656528; finalDepth = 728.771076; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.438747 # Actual altitude: 51.438747 # Commanded vehicle depth: 728.771076 # Seafloor depth: -780.209823 # 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 7 # Segment length 100.139897 meters # Minimum depth: 776.656528 meters looking forward 100.000000 meters along route # Maximum depth: 778.676683 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 726.656528 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.813221; longitude = -136.071999; duration = 400; initialDepth = 724.623429; finalDepth = 726.656528; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.020155 # Actual altitude: 52.020155 # Commanded vehicle depth: 726.656528 # Seafloor depth: -778.676683 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 100.139704 meters # Minimum depth: 774.623429 meters looking forward 100.000000 meters along route # Maximum depth: 776.473955 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 724.623429 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.813258; longitude = -136.069271; duration = 400; initialDepth = 723.229060; finalDepth = 724.623429; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.020155 # Actual altitude: 52.020155 # Commanded vehicle depth: 724.623429 # Seafloor depth: -776.473955 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 100.139509 meters # Minimum depth: 773.229060 meters looking forward 100.000000 meters along route # Maximum depth: 774.426381 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 723.229060 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.813295; longitude = -136.066543; duration = 400; initialDepth = 722.054210; finalDepth = 723.229060; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8505260000001 # Actual altitude: 51.8505260000001 # Commanded vehicle depth: 723.22906 # Seafloor depth: -774.426381 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 100.139314 meters # Minimum depth: 772.054210 meters looking forward 100.000000 meters along route # Maximum depth: 773.066769 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 722.054210 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.813332; longitude = -136.063816; duration = 400; initialDepth = 722.033144; finalDepth = 722.054210; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.197321 # Actual altitude: 51.197321 # Commanded vehicle depth: 722.05421 # Seafloor depth: -773.066769 # 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 100.139119 meters # Minimum depth: 772.033144 meters looking forward 100.000000 meters along route # Maximum depth: 772.602661 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 722.033144 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.813369; longitude = -136.061088; duration = 400; initialDepth = 721.174940; finalDepth = 722.033144; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.012559 # Actual altitude: 51.012559 # Commanded vehicle depth: 722.033144 # Seafloor depth: -772.044965 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 100.138925 meters # Minimum depth: 771.174940 meters looking forward 100.000000 meters along route # Maximum depth: 772.201929 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.174940 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.813406; longitude = -136.058360; duration = 400; initialDepth = 719.435659; finalDepth = 721.174940; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.026989 # Actual altitude: 51.026989 # Commanded vehicle depth: 721.17494 # Seafloor depth: -772.201929 # 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 100.138731 meters # Minimum depth: 769.435659 meters looking forward 100.000000 meters along route # Maximum depth: 771.012238 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.435659 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.813442; longitude = -136.055633; duration = 400; initialDepth = 718.608373; finalDepth = 719.435659; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.576579 # Actual altitude: 51.576579 # Commanded vehicle depth: 719.435659 # Seafloor depth: -771.012238 # 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 7 # Segment length 100.138536 meters # Minimum depth: 768.608373 meters looking forward 100.000000 meters along route # Maximum depth: 769.384827 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.608373 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.813479; longitude = -136.052905; duration = 400; initialDepth = 716.594977; finalDepth = 718.608373; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.576579 # Actual altitude: 51.576579 # Commanded vehicle depth: 718.608373 # Seafloor depth: -769.384827 # 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 7 # Segment length 100.138342 meters # Minimum depth: 766.594977 meters looking forward 100.000000 meters along route # Maximum depth: 768.405397 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.594977 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.813516; longitude = -136.050177; duration = 400; initialDepth = 711.119651; finalDepth = 716.594977; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.81042 # Actual altitude: 51.81042 # Commanded vehicle depth: 716.594977 # Seafloor depth: -768.405397 # 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 7 # Segment length 100.138147 meters # Minimum depth: 761.119651 meters looking forward 100.000000 meters along route # Maximum depth: 766.279630 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.119651 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.813553; longitude = -136.047449; duration = 400; initialDepth = 710.681064; finalDepth = 711.119651; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.159979 # Actual altitude: 55.159979 # Commanded vehicle depth: 711.119651 # Seafloor depth: -766.279630 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 109.030236 meters # Minimum depth: 760.681064 meters looking forward 100.000000 meters along route # Maximum depth: 767.453177 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.681064 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.813590; longitude = -136.044722; duration = 436; initialDepth = 712.826317; finalDepth = 710.681064; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.159979 # Actual altitude: 55.159979 # Commanded vehicle depth: 710.681064 # Seafloor depth: -760.821325 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 179.058328 meters # Minimum depth: 762.826317 meters looking forward 100.000000 meters along route # Maximum depth: 765.247192 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.826317 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.813630; longitude = -136.041752; duration = 716; # abortOnTimeout = True; initialDepth = 711.570956; finalDepth = 712.826317; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.420875 # Actual altitude: 52.420875 # Commanded vehicle depth: 712.826317 # Seafloor depth: -765.247192 # 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 6 # Segment length 121.845948 meters # Minimum depth: 761.570956 meters looking forward 100.000000 meters along route # Maximum depth: 762.436363 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.570956 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.812027; longitude = -136.041504; duration = 487; initialDepth = 711.234186; finalDepth = 711.570956; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.420875 # Actual altitude: 52.420875 # Commanded vehicle depth: 711.570956 # Seafloor depth: -762.436363 # 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 6 # Segment length 121.845951 meters # Minimum depth: 761.234186 meters looking forward 100.000000 meters along route # Maximum depth: 762.262393 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.234186 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.810936; longitude = -136.041336; duration = 487; initialDepth = 710.564874; finalDepth = 711.234186; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.865407 # Actual altitude: 50.865407 # Commanded vehicle depth: 711.234186 # Seafloor depth: -761.595503 # 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 6 # Segment length 121.845953 meters # Minimum depth: 760.564874 meters looking forward 100.000000 meters along route # Maximum depth: 761.534907 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.564874 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.809845; longitude = -136.041167; duration = 487; initialDepth = 709.779790; finalDepth = 710.564874; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.406841 # Actual altitude: 50.406841 # Commanded vehicle depth: 710.564874 # Seafloor depth: -760.971715 # 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 6 # Segment length 121.845955 meters # Minimum depth: 759.779790 meters looking forward 100.000000 meters along route # Maximum depth: 760.958882 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.779790 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.808754; longitude = -136.040999; duration = 487; initialDepth = 709.587027; finalDepth = 709.779790; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9849869999999 # Actual altitude: 50.9849869999999 # Commanded vehicle depth: 709.77979 # Seafloor depth: -760.764777 # 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 6 # Segment length 121.845957 meters # Minimum depth: 759.587027 meters looking forward 100.000000 meters along route # Maximum depth: 760.457181 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.587027 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.807663; longitude = -136.040830; duration = 487; initialDepth = 709.162339; finalDepth = 709.587027; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9849869999999 # Actual altitude: 50.9849869999999 # Commanded vehicle depth: 709.587027 # Seafloor depth: -759.699474 # 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 6 # Segment length 121.845960 meters # Minimum depth: 759.162339 meters looking forward 100.000000 meters along route # Maximum depth: 759.970872 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.162339 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.806571; longitude = -136.040662; duration = 487; initialDepth = 707.535291; finalDepth = 709.162339; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4834900000001 # Actual altitude: 50.4834900000001 # Commanded vehicle depth: 709.162339 # Seafloor depth: -759.645829 # 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 6 # Segment length 121.845961 meters # Minimum depth: 757.535291 meters looking forward 100.000000 meters along route # Maximum depth: 758.736635 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.535291 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.805480; longitude = -136.040493; duration = 487; initialDepth = 706.042164; finalDepth = 707.535291; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2013439999999 # Actual altitude: 51.2013439999999 # Commanded vehicle depth: 707.535291 # Seafloor depth: -758.736635 # 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 6 # Segment length 121.845964 meters # Minimum depth: 756.042164 meters looking forward 100.000000 meters along route # Maximum depth: 757.405325 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.042164 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.804389; longitude = -136.040325; duration = 487; initialDepth = 706.570271; finalDepth = 706.042164; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.363161 # Actual altitude: 51.363161 # Commanded vehicle depth: 706.042164 # Seafloor depth: -757.405325 # 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 6 # Segment length 112.126782 meters # Minimum depth: 756.570271 meters looking forward 100.000000 meters along route # Maximum depth: 757.429926 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.570271 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.803298; longitude = -136.040156; duration = 448; initialDepth = 706.259017; finalDepth = 706.570271; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.363161 # Actual altitude: 51.363161 # Commanded vehicle depth: 706.570271 # Seafloor depth: -756.570271 # 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; } # ####################################################### # # 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 143.377210 meters # Minimum depth: 756.259017 meters looking forward 100.000000 meters along route # Maximum depth: 763.859340 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.259017 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.802294; longitude = -136.040001; duration = 573; # abortOnTimeout = True; initialDepth = 710.580331; finalDepth = 706.259017; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.135163 # Actual altitude: 51.135163 # Commanded vehicle depth: 706.259017 # Seafloor depth: -757.394180 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.223825 meters # Minimum depth: 760.580331 meters looking forward 100.000000 meters along route # Maximum depth: 767.612307 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.580331 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.802233; longitude = -136.043903; duration = 400; initialDepth = 717.848647; finalDepth = 710.580331; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.135163 # Actual altitude: 51.135163 # Commanded vehicle depth: 710.580331 # Seafloor depth: -760.580331 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.224049 meters # Minimum depth: 767.848647 meters looking forward 100.000000 meters along route # Maximum depth: 770.422185 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.848647 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.802190; longitude = -136.046631; duration = 400; initialDepth = 721.231060; finalDepth = 717.848647; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 717.848647 # Seafloor depth: -767.848647 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.224273 meters # Minimum depth: 771.231060 meters looking forward 100.000000 meters along route # Maximum depth: 771.780279 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.231060 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.802148; longitude = -136.049359; duration = 400; initialDepth = 722.001963; finalDepth = 721.231060; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1166040000001 # Actual altitude: 50.1166040000001 # Commanded vehicle depth: 721.23106 # Seafloor depth: -771.347664 # 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 5 # Segment length 100.224496 meters # Minimum depth: 772.001963 meters looking forward 100.000000 meters along route # Maximum depth: 772.868789 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 722.001963 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.802105; longitude = -136.052086; duration = 400; initialDepth = 722.619369; finalDepth = 722.001963; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1166040000001 # Actual altitude: 50.1166040000001 # Commanded vehicle depth: 722.001963 # Seafloor depth: -772.001963 # 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 5 # Segment length 100.224720 meters # Minimum depth: 772.619369 meters looking forward 100.000000 meters along route # Maximum depth: 773.824327 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 722.619369 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.802062; longitude = -136.054814; duration = 400; initialDepth = 724.005625; finalDepth = 722.619369; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.068322 # Actual altitude: 50.068322 # Commanded vehicle depth: 722.619369 # Seafloor depth: -772.687691 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.224943 meters # Minimum depth: 774.005625 meters looking forward 100.000000 meters along route # Maximum depth: 776.192407 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 724.005625 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.802019; longitude = -136.057542; duration = 400; initialDepth = 719.377541; finalDepth = 724.005625; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.068322 # Actual altitude: 50.068322 # Commanded vehicle depth: 724.005625 # Seafloor depth: -774.005625 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.225167 meters # Minimum depth: 769.377541 meters looking forward 100.000000 meters along route # Maximum depth: 775.685585 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.377541 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.801977; longitude = -136.060270; duration = 400; initialDepth = 720.148366; finalDepth = 719.377541; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.308044 # Actual altitude: 56.308044 # Commanded vehicle depth: 719.377541 # Seafloor depth: -775.685585 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.225390 meters # Minimum depth: 770.148366 meters looking forward 100.000000 meters along route # Maximum depth: 771.329110 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.148366 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.801934; longitude = -136.062997; duration = 400; initialDepth = 720.842568; finalDepth = 720.148366; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.308044 # Actual altitude: 56.308044 # Commanded vehicle depth: 720.148366 # Seafloor depth: -770.148366 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.225615 meters # Minimum depth: 770.842568 meters looking forward 100.000000 meters along route # Maximum depth: 771.380268 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.842568 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.801891; longitude = -136.065725; duration = 400; initialDepth = 720.770231; finalDepth = 720.842568; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.238346 # Actual altitude: 50.238346 # Commanded vehicle depth: 720.842568 # Seafloor depth: -771.080914 # 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 5 # Segment length 100.225837 meters # Minimum depth: 770.770231 meters looking forward 100.000000 meters along route # Maximum depth: 771.526783 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.770231 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.801848; longitude = -136.068453; duration = 400; initialDepth = 721.171595; finalDepth = 720.770231; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.238346 # Actual altitude: 50.238346 # Commanded vehicle depth: 720.770231 # Seafloor depth: -770.945543 # 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 5 # Segment length 100.226062 meters # Minimum depth: 771.171595 meters looking forward 100.000000 meters along route # Maximum depth: 775.366414 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.171595 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.801806; longitude = -136.071181; duration = 400; initialDepth = 723.448303; finalDepth = 721.171595; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1753120000001 # Actual altitude: 50.1753120000001 # Commanded vehicle depth: 721.171595 # Seafloor depth: -771.171595 # 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 5 # Segment length 100.226285 meters # Minimum depth: 773.448303 meters looking forward 100.000000 meters along route # Maximum depth: 775.917277 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 723.448303 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.801763; longitude = -136.073908; duration = 400; initialDepth = 726.571582; finalDepth = 723.448303; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.797229 # Actual altitude: 51.797229 # Commanded vehicle depth: 723.448303 # Seafloor depth: -775.245532 # 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 5 # Segment length 100.226510 meters # Minimum depth: 776.571582 meters looking forward 100.000000 meters along route # Maximum depth: 778.032025 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 726.571582 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.801720; longitude = -136.076636; duration = 400; initialDepth = 725.897360; finalDepth = 726.571582; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.797229 # Actual altitude: 51.797229 # Commanded vehicle depth: 726.571582 # Seafloor depth: -776.571582 # 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 5 # Segment length 100.226732 meters # Minimum depth: 775.897360 meters looking forward 100.000000 meters along route # Maximum depth: 777.428293 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 725.897360 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.801677; longitude = -136.079364; duration = 400; initialDepth = 721.719417; finalDepth = 725.897360; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.530933 # Actual altitude: 51.530933 # Commanded vehicle depth: 725.89736 # Seafloor depth: -777.428293 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.226957 meters # Minimum depth: 771.719417 meters looking forward 100.000000 meters along route # Maximum depth: 775.621604 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.719417 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.801635; longitude = -136.082092; duration = 400; initialDepth = 713.664768; finalDepth = 721.719417; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.902187 # Actual altitude: 53.902187 # Commanded vehicle depth: 721.719417 # Seafloor depth: -775.621604 # 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 5 # Segment length 100.227181 meters # Minimum depth: 763.664768 meters looking forward 100.000000 meters along route # Maximum depth: 770.236066 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.664768 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.801592; longitude = -136.084819; duration = 400; initialDepth = 698.676475; finalDepth = 713.664768; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.5712980000001 # Actual altitude: 56.5712980000001 # Commanded vehicle depth: 713.664768 # Seafloor depth: -770.236066 # 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 100.227404 meters # Minimum depth: 748.676475 meters looking forward 100.000000 meters along route # Maximum depth: 763.970760 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.676475 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.801549; longitude = -136.087547; duration = 400; initialDepth = 693.347138; finalDepth = 698.676475; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.2942850000001 # Actual altitude: 65.2942850000001 # Commanded vehicle depth: 698.676475 # Seafloor depth: -763.970760 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.227628 meters # Minimum depth: 743.347138 meters looking forward 100.000000 meters along route # Maximum depth: 747.124001 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.347138 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.801506; longitude = -136.090275; duration = 400; initialDepth = 692.583922; finalDepth = 693.347138; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.2942850000001 # Actual altitude: 65.2942850000001 # Commanded vehicle depth: 693.347138 # Seafloor depth: -747.124001 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.227853 meters # Minimum depth: 742.583922 meters looking forward 100.000000 meters along route # Maximum depth: 743.022272 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.583922 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.801464; longitude = -136.093002; duration = 400; initialDepth = 692.523991; finalDepth = 692.583922; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.776863 # Actual altitude: 53.776863 # Commanded vehicle depth: 692.583922 # Seafloor depth: -743.016935 # 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 5 # Segment length 100.228076 meters # Minimum depth: 742.523991 meters looking forward 100.000000 meters along route # Maximum depth: 744.202629 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.523991 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.801421; longitude = -136.095730; duration = 400; initialDepth = 693.609135; finalDepth = 692.523991; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.433013 # Actual altitude: 50.433013 # Commanded vehicle depth: 692.523991 # Seafloor depth: -742.523991 # 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 5 # Segment length 100.228300 meters # Minimum depth: 743.609135 meters looking forward 100.000000 meters along route # Maximum depth: 744.130776 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.609135 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.801378; longitude = -136.098458; duration = 400; initialDepth = 692.538118; finalDepth = 693.609135; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.178446 # Actual altitude: 50.178446 # Commanded vehicle depth: 693.609135 # Seafloor depth: -743.787581 # 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 5 # Segment length 100.228524 meters # Minimum depth: 742.538118 meters looking forward 100.000000 meters along route # Maximum depth: 743.442754 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.538118 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.801336; longitude = -136.101186; duration = 400; initialDepth = 693.380360; finalDepth = 692.538118; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.904636 # Actual altitude: 50.904636 # Commanded vehicle depth: 692.538118 # Seafloor depth: -743.442754 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.228748 meters # Minimum depth: 743.380360 meters looking forward 100.000000 meters along route # Maximum depth: 751.367869 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.380360 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.801293; longitude = -136.103913; duration = 400; initialDepth = 703.341480; finalDepth = 693.380360; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.904636 # Actual altitude: 50.904636 # Commanded vehicle depth: 693.38036 # Seafloor depth: -743.380360 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.228972 meters # Minimum depth: 753.341480 meters looking forward 100.000000 meters along route # Maximum depth: 763.933415 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 703.341480 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.801250; longitude = -136.106641; duration = 400; initialDepth = 714.796426; finalDepth = 703.341480; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 703.34148 # Seafloor depth: -753.341480 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.229197 meters # Minimum depth: 764.796426 meters looking forward 100.000000 meters along route # Maximum depth: 769.835861 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.796426 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.801207; longitude = -136.109369; duration = 400; initialDepth = 720.113682; finalDepth = 714.796426; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 714.796426 # Seafloor depth: -764.796426 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.229420 meters # Minimum depth: 770.113682 meters looking forward 100.000000 meters along route # Maximum depth: 772.908357 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.113682 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.801165; longitude = -136.112097; duration = 400; initialDepth = 723.200481; finalDepth = 720.113682; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 720.113682 # Seafloor depth: -770.113682 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.229644 meters # Minimum depth: 773.200481 meters looking forward 100.000000 meters along route # Maximum depth: 773.801277 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 723.200481 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.801122; longitude = -136.114824; duration = 400; initialDepth = 722.946465; finalDepth = 723.200481; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 723.200481 # Seafloor depth: -773.200481 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.229869 meters # Minimum depth: 772.946465 meters looking forward 100.000000 meters along route # Maximum depth: 775.453267 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 722.946465 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.801079; longitude = -136.117552; duration = 400; initialDepth = 725.655802; finalDepth = 722.946465; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.580447 # Actual altitude: 50.580447 # Commanded vehicle depth: 722.946465 # Seafloor depth: -773.526912 # 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 5 # Segment length 108.771038 meters # Minimum depth: 775.655802 meters looking forward 100.000000 meters along route # Maximum depth: 776.442195 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 725.655802 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.801036; longitude = -136.120280; duration = 435; initialDepth = 726.535522; finalDepth = 725.655802; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.580447 # Actual altitude: 50.580447 # Commanded vehicle depth: 725.655802 # Seafloor depth: -775.655802 # 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 4 # Segment length 138.061310 meters # Minimum depth: 776.535522 meters looking forward 100.000000 meters along route # Maximum depth: 777.297711 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 726.535522 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.800990; longitude = -136.123240; duration = 552; # abortOnTimeout = True; initialDepth = 727.415216; finalDepth = 726.535522; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 726.535522 # Seafloor depth: -776.535522 # 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 121.693954 meters # Minimum depth: 777.415216 meters looking forward 100.000000 meters along route # Maximum depth: 778.100017 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 727.415216 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.799752; longitude = -136.123207; duration = 486; initialDepth = 728.297994; finalDepth = 727.415216; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 727.415216 # Seafloor depth: -777.415216 # 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 121.693939 meters # Minimum depth: 778.297994 meters looking forward 100.000000 meters along route # Maximum depth: 778.580427 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 728.297994 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.798661; longitude = -136.123178; duration = 486; initialDepth = 728.280579; finalDepth = 728.297994; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 728.297994 # Seafloor depth: -778.297994 # 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 121.693926 meters # Minimum depth: 778.280579 meters looking forward 100.000000 meters along route # Maximum depth: 778.657224 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 728.280579 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.797570; longitude = -136.123149; duration = 486; initialDepth = 727.658070; finalDepth = 728.280579; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3766450000001 # Actual altitude: 50.3766450000001 # Commanded vehicle depth: 728.280579 # Seafloor depth: -778.657224 # 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 4 # Segment length 121.693912 meters # Minimum depth: 777.658070 meters looking forward 100.000000 meters along route # Maximum depth: 778.331176 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 727.658070 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.796479; longitude = -136.123120; duration = 486; initialDepth = 718.998532; finalDepth = 727.658070; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6731060000001 # Actual altitude: 50.6731060000001 # Commanded vehicle depth: 727.65807 # Seafloor depth: -778.331176 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 128.351549 meters # Minimum depth: 768.998532 meters looking forward 100.000000 meters along route # Maximum depth: 776.627648 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.998532 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795388; longitude = -136.123091; duration = 513; initialDepth = 718.172119; finalDepth = 718.998532; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 57.6291160000001 # Actual altitude: 57.6291160000001 # Commanded vehicle depth: 718.998532 # Seafloor depth: -776.627648 # 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; } # ####################################################### # # 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 92.184073 meters # Minimum depth: 768.172119 meters looking forward 100.000000 meters along route # Maximum depth: 776.377988 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.172119 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794237; longitude = -136.123060; duration = 368; # abortOnTimeout = True; initialDepth = 726.976529; finalDepth = 718.172119; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.6291160000001 # Actual altitude: 57.6291160000001 # Commanded vehicle depth: 718.172119 # Seafloor depth: -768.172119 # 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 3 # Segment length 100.284387 meters # Minimum depth: 776.976529 meters looking forward 100.000000 meters along route # Maximum depth: 779.149899 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 726.976529 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794280; longitude = -136.120553; duration = 401; initialDepth = 729.110930; finalDepth = 726.976529; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 726.976529 # Seafloor depth: -776.976529 # 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 100.284145 meters # Minimum depth: 779.110930 meters looking forward 100.000000 meters along route # Maximum depth: 779.367878 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 729.110930 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794326; longitude = -136.117825; duration = 401; initialDepth = 729.026679; finalDepth = 729.110930; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 729.11093 # Seafloor depth: -779.110930 # 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 100.283901 meters # Minimum depth: 779.026679 meters looking forward 100.000000 meters along route # Maximum depth: 779.395800 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 729.026679 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794373; longitude = -136.115097; duration = 401; initialDepth = 728.432635; finalDepth = 729.026679; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3691210000001 # Actual altitude: 50.3691210000001 # Commanded vehicle depth: 729.026679 # Seafloor depth: -779.395800 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.283659 meters # Minimum depth: 778.432635 meters looking forward 100.000000 meters along route # Maximum depth: 779.379274 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 728.432635 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794419; longitude = -136.112369; duration = 401; initialDepth = 727.939220; finalDepth = 728.432635; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.926305 # Actual altitude: 50.926305 # Commanded vehicle depth: 728.432635 # Seafloor depth: -779.358940 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.283416 meters # Minimum depth: 777.939220 meters looking forward 100.000000 meters along route # Maximum depth: 778.452517 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 727.939220 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794466; longitude = -136.109642; duration = 401; initialDepth = 727.122647; finalDepth = 727.939220; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.926305 # Actual altitude: 50.926305 # Commanded vehicle depth: 727.93922 # Seafloor depth: -778.415018 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.283173 meters # Minimum depth: 777.122647 meters looking forward 100.000000 meters along route # Maximum depth: 777.677660 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 727.122647 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794512; longitude = -136.106914; duration = 401; initialDepth = 726.543156; finalDepth = 727.122647; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5550129999999 # Actual altitude: 50.5550129999999 # Commanded vehicle depth: 727.122647 # Seafloor depth: -777.677660 # 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 3 # Segment length 100.282930 meters # Minimum depth: 776.543156 meters looking forward 100.000000 meters along route # Maximum depth: 776.916230 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 726.543156 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794559; longitude = -136.104186; duration = 401; initialDepth = 725.849164; finalDepth = 726.543156; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5550129999999 # Actual altitude: 50.5550129999999 # Commanded vehicle depth: 726.543156 # Seafloor depth: -776.916230 # 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 3 # Segment length 100.282688 meters # Minimum depth: 775.849164 meters looking forward 100.000000 meters along route # Maximum depth: 776.554810 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 725.849164 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794605; longitude = -136.101458; duration = 401; initialDepth = 725.777032; finalDepth = 725.849164; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.705646 # Actual altitude: 50.705646 # Commanded vehicle depth: 725.849164 # Seafloor depth: -776.554810 # 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 3 # Segment length 100.282446 meters # Minimum depth: 775.777032 meters looking forward 100.000000 meters along route # Maximum depth: 776.157031 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 725.777032 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794652; longitude = -136.098731; duration = 401; initialDepth = 726.222692; finalDepth = 725.777032; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.705646 # Actual altitude: 50.705646 # Commanded vehicle depth: 725.777032 # Seafloor depth: -775.826312 # 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 3 # Segment length 100.282202 meters # Minimum depth: 776.222692 meters looking forward 100.000000 meters along route # Maximum depth: 777.321219 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 726.222692 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794698; longitude = -136.096003; duration = 401; initialDepth = 727.469100; finalDepth = 726.222692; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0492800000001 # Actual altitude: 50.0492800000001 # Commanded vehicle depth: 726.222692 # Seafloor depth: -776.222692 # 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 3 # Segment length 100.281960 meters # Minimum depth: 777.469100 meters looking forward 100.000000 meters along route # Maximum depth: 777.918051 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 727.469100 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794744; longitude = -136.093275; duration = 401; initialDepth = 727.859699; finalDepth = 727.469100; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 727.4691 # Seafloor depth: -777.469100 # 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 100.281718 meters # Minimum depth: 777.859699 meters looking forward 100.000000 meters along route # Maximum depth: 778.690892 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 727.859699 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794791; longitude = -136.090548; duration = 401; initialDepth = 728.714404; finalDepth = 727.859699; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 727.859699 # Seafloor depth: -777.859699 # 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 100.281474 meters # Minimum depth: 778.714404 meters looking forward 100.000000 meters along route # Maximum depth: 779.829825 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 728.714404 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794837; longitude = -136.087820; duration = 401; initialDepth = 730.016152; finalDepth = 728.714404; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0245440000001 # Actual altitude: 50.0245440000001 # Commanded vehicle depth: 728.714404 # Seafloor depth: -778.738948 # 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 3 # Segment length 100.281233 meters # Minimum depth: 780.016152 meters looking forward 100.000000 meters along route # Maximum depth: 781.763107 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 730.016152 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794884; longitude = -136.085092; duration = 401; initialDepth = 731.767994; finalDepth = 730.016152; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0245440000001 # Actual altitude: 50.0245440000001 # Commanded vehicle depth: 730.016152 # Seafloor depth: -780.016152 # 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 3 # Segment length 100.280990 meters # Minimum depth: 781.767994 meters looking forward 100.000000 meters along route # Maximum depth: 782.052399 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 731.767994 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794930; longitude = -136.082364; duration = 401; initialDepth = 732.018077; finalDepth = 731.767994; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 731.767994 # Seafloor depth: -781.767994 # 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 100.280747 meters # Minimum depth: 782.018077 meters looking forward 100.000000 meters along route # Maximum depth: 782.748675 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 732.018077 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794977; longitude = -136.079637; duration = 401; initialDepth = 732.457942; finalDepth = 732.018077; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 732.018077 # Seafloor depth: -782.018077 # 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 100.280505 meters # Minimum depth: 782.457942 meters looking forward 100.000000 meters along route # Maximum depth: 782.781366 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 732.457942 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795023; longitude = -136.076909; duration = 401; initialDepth = 732.785184; finalDepth = 732.457942; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.323424 # Actual altitude: 50.323424 # Commanded vehicle depth: 732.457942 # Seafloor depth: -782.781366 # 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 3 # Segment length 100.280263 meters # Minimum depth: 782.785184 meters looking forward 100.000000 meters along route # Maximum depth: 783.201301 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 732.785184 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795070; longitude = -136.074181; duration = 401; initialDepth = 732.868410; finalDepth = 732.785184; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.323424 # Actual altitude: 50.323424 # Commanded vehicle depth: 732.785184 # Seafloor depth: -782.785184 # 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 3 # Segment length 100.280020 meters # Minimum depth: 782.868410 meters looking forward 100.000000 meters along route # Maximum depth: 783.104325 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 732.868410 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795116; longitude = -136.071453; duration = 401; initialDepth = 732.789062; finalDepth = 732.868410; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.235915 # Actual altitude: 50.235915 # Commanded vehicle depth: 732.86841 # Seafloor depth: -783.104325 # 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 3 # Segment length 100.279777 meters # Minimum depth: 782.789062 meters looking forward 100.000000 meters along route # Maximum depth: 783.195875 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 732.789062 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795163; longitude = -136.068726; duration = 401; initialDepth = 732.769995; finalDepth = 732.789062; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.235915 # Actual altitude: 50.235915 # Commanded vehicle depth: 732.789062 # Seafloor depth: -782.837109 # 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 3 # Segment length 100.279536 meters # Minimum depth: 782.769995 meters looking forward 100.000000 meters along route # Maximum depth: 783.323480 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 732.769995 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795209; longitude = -136.065998; duration = 401; initialDepth = 731.786960; finalDepth = 732.769995; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5342920000001 # Actual altitude: 50.5342920000001 # Commanded vehicle depth: 732.769995 # Seafloor depth: -783.304287 # 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 3 # Segment length 100.279293 meters # Minimum depth: 781.786960 meters looking forward 100.000000 meters along route # Maximum depth: 782.801367 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 731.786960 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795256; longitude = -136.063270; duration = 401; initialDepth = 730.319481; finalDepth = 731.786960; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.014407 # Actual altitude: 51.014407 # Commanded vehicle depth: 731.78696 # Seafloor depth: -782.801367 # 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 3 # Segment length 100.279051 meters # Minimum depth: 780.319481 meters looking forward 100.000000 meters along route # Maximum depth: 781.675047 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 730.319481 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795302; longitude = -136.060542; duration = 401; initialDepth = 727.577480; finalDepth = 730.319481; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.355566 # Actual altitude: 51.355566 # Commanded vehicle depth: 730.319481 # Seafloor depth: -781.675047 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.278808 meters # Minimum depth: 777.577480 meters looking forward 100.000000 meters along route # Maximum depth: 780.179911 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 727.577480 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795349; longitude = -136.057815; duration = 401; initialDepth = 721.043103; finalDepth = 727.577480; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6024309999999 # Actual altitude: 52.6024309999999 # Commanded vehicle depth: 727.57748 # Seafloor depth: -780.179911 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.278567 meters # Minimum depth: 771.043103 meters looking forward 100.000000 meters along route # Maximum depth: 777.261622 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.043103 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795395; longitude = -136.055087; duration = 401; initialDepth = 715.871169; finalDepth = 721.043103; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.218519 # Actual altitude: 56.218519 # Commanded vehicle depth: 721.043103 # Seafloor depth: -777.261622 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.278324 meters # Minimum depth: 765.871169 meters looking forward 100.000000 meters along route # Maximum depth: 770.303911 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.871169 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795442; longitude = -136.052359; duration = 401; initialDepth = 702.234984; finalDepth = 715.871169; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.218519 # Actual altitude: 56.218519 # Commanded vehicle depth: 715.871169 # Seafloor depth: -770.303911 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.278082 meters # Minimum depth: 752.234984 meters looking forward 100.000000 meters along route # Maximum depth: 765.238063 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 702.234984 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795488; longitude = -136.049632; duration = 401; initialDepth = 698.109710; finalDepth = 702.234984; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.003079 # Actual altitude: 63.003079 # Commanded vehicle depth: 702.234984 # Seafloor depth: -765.238063 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.277839 meters # Minimum depth: 748.109710 meters looking forward 100.000000 meters along route # Maximum depth: 750.336616 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.109710 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795535; longitude = -136.046904; duration = 401; initialDepth = 695.377727; finalDepth = 698.109710; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.003079 # Actual altitude: 63.003079 # Commanded vehicle depth: 698.10971 # Seafloor depth: -750.336616 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.277598 meters # Minimum depth: 745.377727 meters looking forward 100.000000 meters along route # Maximum depth: 747.721842 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.377727 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795581; longitude = -136.044176; duration = 401; initialDepth = 693.399745; finalDepth = 695.377727; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.344115 # Actual altitude: 52.344115 # Commanded vehicle depth: 695.377727 # Seafloor depth: -747.721842 # 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 3 # Segment length 103.145035 meters # Minimum depth: 743.399745 meters looking forward 100.000000 meters along route # Maximum depth: 745.312872 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.399745 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795627; longitude = -136.041448; duration = 412; initialDepth = 692.376530; finalDepth = 693.399745; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.344115 # Actual altitude: 52.344115 # Commanded vehicle depth: 693.399745 # Seafloor depth: -745.312872 # 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; } # ####################################################### # # 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 92.992374 meters # Minimum depth: 742.376530 meters looking forward 100.000000 meters along route # Maximum depth: 743.502045 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.376530 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795675; longitude = -136.038643; duration = 371; # abortOnTimeout = True; initialDepth = 690.800009; finalDepth = 692.376530; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9131269999999 # Actual altitude: 51.9131269999999 # Commanded vehicle depth: 692.37653 # Seafloor depth: -743.502045 # 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 2 # Segment length 121.795475 meters # Minimum depth: 740.800009 meters looking forward 100.000000 meters along route # Maximum depth: 741.940178 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.800009 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794842; longitude = -136.038537; duration = 487; initialDepth = 688.888472; finalDepth = 690.800009; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1401689999999 # Actual altitude: 51.1401689999999 # Commanded vehicle depth: 690.800009 # Seafloor depth: -741.940178 # 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 121.795472 meters # Minimum depth: 738.888472 meters looking forward 100.000000 meters along route # Maximum depth: 740.368782 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.888472 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.793751; longitude = -136.038398; duration = 487; initialDepth = 687.638231; finalDepth = 688.888472; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.48031 # Actual altitude: 51.48031 # Commanded vehicle depth: 688.888472 # Seafloor depth: -740.368782 # 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 2 # Segment length 121.795469 meters # Minimum depth: 737.638231 meters looking forward 100.000000 meters along route # Maximum depth: 738.757381 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.638231 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.792660; longitude = -136.038259; duration = 487; initialDepth = 685.660591; finalDepth = 687.638231; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.48031 # Actual altitude: 51.48031 # Commanded vehicle depth: 687.638231 # Seafloor depth: -738.757381 # 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 2 # Segment length 121.795466 meters # Minimum depth: 735.660591 meters looking forward 100.000000 meters along route # Maximum depth: 736.953114 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.660591 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.791569; longitude = -136.038120; duration = 487; initialDepth = 684.054567; finalDepth = 685.660591; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2925230000001 # Actual altitude: 51.2925230000001 # Commanded vehicle depth: 685.660591 # Seafloor depth: -736.953114 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 121.795462 meters # Minimum depth: 734.054567 meters looking forward 100.000000 meters along route # Maximum depth: 735.395414 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 684.054567 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.790478; longitude = -136.037981; duration = 487; initialDepth = 682.578848; finalDepth = 684.054567; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3408469999999 # Actual altitude: 51.3408469999999 # Commanded vehicle depth: 684.054567 # Seafloor depth: -735.395414 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 121.795459 meters # Minimum depth: 732.578848 meters looking forward 100.000000 meters along route # Maximum depth: 733.936887 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 682.578848 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.789387; longitude = -136.037843; duration = 487; initialDepth = 682.192926; finalDepth = 682.578848; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.358039 # Actual altitude: 51.358039 # Commanded vehicle depth: 682.578848 # Seafloor depth: -733.936887 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 121.795456 meters # Minimum depth: 732.192926 meters looking forward 100.000000 meters along route # Maximum depth: 732.360752 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 682.192926 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.788296; longitude = -136.037704; duration = 487; initialDepth = 681.987252; finalDepth = 682.192926; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.358039 # Actual altitude: 51.358039 # Commanded vehicle depth: 682.192926 # Seafloor depth: -732.304361 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 128.625906 meters # Minimum depth: 731.987252 meters looking forward 100.000000 meters along route # Maximum depth: 732.516382 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 681.987252 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.787205; longitude = -136.037565; duration = 514; initialDepth = 682.038361; finalDepth = 681.987252; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.52913 # Actual altitude: 50.52913 # Commanded vehicle depth: 681.987252 # Seafloor depth: -732.516382 # 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; } # ####################################################### # # 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 128.195334 meters # Minimum depth: 732.038361 meters looking forward 100.000000 meters along route # Maximum depth: 733.304940 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 682.038361 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.786052; longitude = -136.037419; duration = 512; # abortOnTimeout = True; initialDepth = 683.383986; finalDepth = 682.038361; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.52913 # Actual altitude: 50.52913 # Commanded vehicle depth: 682.038361 # Seafloor depth: -732.038361 # 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 1 # Segment length 100.362504 meters # Minimum depth: 733.383986 meters looking forward 100.000000 meters along route # Maximum depth: 734.178070 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 683.383986 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785985; longitude = -136.040903; duration = 401; initialDepth = 684.336993; finalDepth = 683.383986; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 683.383986 # Seafloor depth: -733.383986 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.362775 meters # Minimum depth: 734.336993 meters looking forward 100.000000 meters along route # Maximum depth: 735.826227 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 684.336993 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785933; longitude = -136.043631; duration = 401; initialDepth = 686.103066; finalDepth = 684.336993; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 684.336993 # Seafloor depth: -734.336993 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.363047 meters # Minimum depth: 736.103066 meters looking forward 100.000000 meters along route # Maximum depth: 736.682913 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 686.103066 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785880; longitude = -136.046358; duration = 401; initialDepth = 686.714812; finalDepth = 686.103066; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 686.103066 # Seafloor depth: -736.103066 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.363319 meters # Minimum depth: 736.714812 meters looking forward 100.000000 meters along route # Maximum depth: 738.317088 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 686.714812 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785828; longitude = -136.049086; duration = 401; initialDepth = 688.429531; finalDepth = 686.714812; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 686.714812 # Seafloor depth: -736.714812 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.363591 meters # Minimum depth: 738.429531 meters looking forward 100.000000 meters along route # Maximum depth: 739.072807 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.429531 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785776; longitude = -136.051814; duration = 401; initialDepth = 689.162523; finalDepth = 688.429531; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 688.429531 # Seafloor depth: -738.429531 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.363864 meters # Minimum depth: 739.162523 meters looking forward 100.000000 meters along route # Maximum depth: 739.407198 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.162523 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785723; longitude = -136.054541; duration = 401; initialDepth = 689.335685; finalDepth = 689.162523; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 689.162523 # Seafloor depth: -739.162523 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.364135 meters # Minimum depth: 739.335685 meters looking forward 100.000000 meters along route # Maximum depth: 740.173220 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.335685 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785671; longitude = -136.057269; duration = 401; initialDepth = 689.453957; finalDepth = 689.335685; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.016738 # Actual altitude: 50.016738 # Commanded vehicle depth: 689.335685 # Seafloor depth: -739.352423 # 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 1 # Segment length 100.364408 meters # Minimum depth: 739.453957 meters looking forward 100.000000 meters along route # Maximum depth: 740.143105 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.453957 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785618; longitude = -136.059997; duration = 401; initialDepth = 689.012007; finalDepth = 689.453957; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.689148 # Actual altitude: 50.689148 # Commanded vehicle depth: 689.453957 # Seafloor depth: -740.143105 # 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 1 # Segment length 100.364679 meters # Minimum depth: 739.012007 meters looking forward 100.000000 meters along route # Maximum depth: 739.437320 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.012007 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785566; longitude = -136.062725; duration = 401; initialDepth = 689.054018; finalDepth = 689.012007; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.689148 # Actual altitude: 50.689148 # Commanded vehicle depth: 689.012007 # Seafloor depth: -739.437320 # 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 1 # Segment length 100.364952 meters # Minimum depth: 739.054018 meters looking forward 100.000000 meters along route # Maximum depth: 739.679295 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.054018 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785513; longitude = -136.065452; duration = 401; initialDepth = 689.770207; finalDepth = 689.054018; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.425313 # Actual altitude: 50.425313 # Commanded vehicle depth: 689.054018 # Seafloor depth: -739.054018 # 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 1 # Segment length 100.365224 meters # Minimum depth: 739.770207 meters looking forward 100.000000 meters along route # Maximum depth: 740.534803 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.770207 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785461; longitude = -136.068180; duration = 401; initialDepth = 690.732858; finalDepth = 689.770207; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 689.770207 # Seafloor depth: -739.770207 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.365496 meters # Minimum depth: 740.732858 meters looking forward 100.000000 meters along route # Maximum depth: 741.875925 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.732858 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785408; longitude = -136.070908; duration = 401; initialDepth = 691.618013; finalDepth = 690.732858; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 690.732858 # Seafloor depth: -740.732858 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.365768 meters # Minimum depth: 741.618013 meters looking forward 100.000000 meters along route # Maximum depth: 741.790540 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.618013 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785356; longitude = -136.073636; duration = 401; initialDepth = 691.695981; finalDepth = 691.618013; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1725269999999 # Actual altitude: 50.1725269999999 # Commanded vehicle depth: 691.618013 # Seafloor depth: -741.790540 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.366041 meters # Minimum depth: 741.695981 meters looking forward 100.000000 meters along route # Maximum depth: 741.920041 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.695981 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785304; longitude = -136.076363; duration = 401; initialDepth = 691.821493; finalDepth = 691.695981; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1725269999999 # Actual altitude: 50.1725269999999 # Commanded vehicle depth: 691.695981 # Seafloor depth: -741.703172 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.366312 meters # Minimum depth: 741.821493 meters looking forward 100.000000 meters along route # Maximum depth: 742.093489 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.821493 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785251; longitude = -136.079091; duration = 401; initialDepth = 691.642068; finalDepth = 691.821493; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0738729999999 # Actual altitude: 50.0738729999999 # Commanded vehicle depth: 691.821493 # Seafloor depth: -741.895366 # 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 1 # Segment length 100.366586 meters # Minimum depth: 741.642068 meters looking forward 100.000000 meters along route # Maximum depth: 742.001083 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.642068 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785199; longitude = -136.081819; duration = 401; initialDepth = 691.502058; finalDepth = 691.642068; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.359015 # Actual altitude: 50.359015 # Commanded vehicle depth: 691.642068 # Seafloor depth: -742.001083 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.366857 meters # Minimum depth: 741.502058 meters looking forward 100.000000 meters along route # Maximum depth: 742.005852 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.502058 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785146; longitude = -136.084547; duration = 401; initialDepth = 690.744641; finalDepth = 691.502058; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.359015 # Actual altitude: 50.359015 # Commanded vehicle depth: 691.502058 # Seafloor depth: -741.793496 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.367130 meters # Minimum depth: 740.744641 meters looking forward 100.000000 meters along route # Maximum depth: 741.358890 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.744641 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785094; longitude = -136.087274; duration = 401; initialDepth = 690.619894; finalDepth = 690.744641; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.614249 # Actual altitude: 50.614249 # Commanded vehicle depth: 690.744641 # Seafloor depth: -741.358890 # 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 1 # Segment length 100.367402 meters # Minimum depth: 740.619894 meters looking forward 100.000000 meters along route # Maximum depth: 741.718982 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.619894 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785041; longitude = -136.090002; duration = 401; initialDepth = 691.854528; finalDepth = 690.619894; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.614249 # Actual altitude: 50.614249 # Commanded vehicle depth: 690.619894 # Seafloor depth: -740.695044 # 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 1 # Segment length 100.367674 meters # Minimum depth: 741.854528 meters looking forward 100.000000 meters along route # Maximum depth: 742.344586 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.854528 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.784989; longitude = -136.092730; duration = 401; initialDepth = 692.256515; finalDepth = 691.854528; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.07515 # Actual altitude: 50.07515 # Commanded vehicle depth: 691.854528 # Seafloor depth: -741.854528 # 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 1 # Segment length 100.367947 meters # Minimum depth: 742.256515 meters looking forward 100.000000 meters along route # Maximum depth: 742.369747 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.256515 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.784936; longitude = -136.095457; duration = 401; initialDepth = 692.067347; finalDepth = 692.256515; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.044309 # Actual altitude: 50.044309 # Commanded vehicle depth: 692.256515 # Seafloor depth: -742.300824 # 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 1 # Segment length 100.368220 meters # Minimum depth: 742.067347 meters looking forward 100.000000 meters along route # Maximum depth: 742.709731 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.067347 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.784884; longitude = -136.098185; duration = 401; initialDepth = 692.808728; finalDepth = 692.067347; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.116503 # Actual altitude: 50.116503 # Commanded vehicle depth: 692.067347 # Seafloor depth: -742.183850 # 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 1 # Segment length 100.368492 meters # Minimum depth: 742.808728 meters looking forward 100.000000 meters along route # Maximum depth: 743.634913 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.808728 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.784831; longitude = -136.100913; duration = 401; initialDepth = 693.261287; finalDepth = 692.808728; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.116503 # Actual altitude: 50.116503 # Commanded vehicle depth: 692.808728 # Seafloor depth: -742.808728 # 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 1 # Segment length 100.368764 meters # Minimum depth: 743.261287 meters looking forward 100.000000 meters along route # Maximum depth: 743.402088 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.261287 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.784779; longitude = -136.103641; duration = 401; initialDepth = 693.191061; finalDepth = 693.261287; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.140801 # Actual altitude: 50.140801 # Commanded vehicle depth: 693.261287 # Seafloor depth: -743.402088 # 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 1 # Segment length 100.369037 meters # Minimum depth: 743.191061 meters looking forward 100.000000 meters along route # Maximum depth: 743.321037 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.191061 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.784727; longitude = -136.106368; duration = 401; initialDepth = 692.889572; finalDepth = 693.191061; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.140801 # Actual altitude: 50.140801 # Commanded vehicle depth: 693.191061 # Seafloor depth: -743.205799 # 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 1 # Segment length 100.369310 meters # Minimum depth: 742.889572 meters looking forward 100.000000 meters along route # Maximum depth: 743.113784 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.889572 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.784674; longitude = -136.109096; duration = 401; initialDepth = 692.959298; finalDepth = 692.889572; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.224212 # Actual altitude: 50.224212 # Commanded vehicle depth: 692.889572 # Seafloor depth: -743.113784 # 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 1 # Segment length 100.369582 meters # Minimum depth: 742.959298 meters looking forward 100.000000 meters along route # Maximum depth: 743.352875 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.959298 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.784622; longitude = -136.111824; duration = 401; initialDepth = 691.315809; finalDepth = 692.959298; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.224212 # Actual altitude: 50.224212 # Commanded vehicle depth: 692.959298 # Seafloor depth: -742.959298 # 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 1 # Segment length 109.593894 meters # Minimum depth: 741.315809 meters looking forward 100.000000 meters along route # Maximum depth: 743.217667 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 766.420157 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.315809 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.784569; longitude = -136.114552; duration = 438; initialDepth = 691.315809; finalDepth = 691.315809; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.86927 # Actual altitude: 51.86927 # Commanded vehicle depth: 691.315809 # Seafloor depth: -743.185079 # 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; } # ####################################################### # # 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: 51.86927 # Sonar parameter altitude: 51.86927 # Commanded vehicle depth: 691.315809 # Seafloor depth: -741.445267 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; SBP_Duration = 300.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 200.00; MB_Power = 218; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 33; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000033; MB_Bottom_Detect_Filter_Min_Range = 31.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint behavior to get back to start of line 1 # Segment length 109.593894 meters # Minimum depth: 741.315809 meters looking forward 100.000000 meters along route # Maximum depth: 743.217667 meters looking forward 100.000000 meters along route # Vehicle depth: 691.315809 meters behavior waypoint { latitude = 70.784512; longitude = -136.117530; duration = 1382; depth = 691.315809; speed = 1.500000; } # # Zero speed hang to allow final nav updates over acoustic modem # - must get start survey command over acoustic modem or mission aborts behavior StartSurvey { duration = 300; } # # Acoustic update 4 - sent status ping at beginning of StartSurvey behavior # behavior acousticUpdate { duration = 2; dummy = 1; } # # Spiral descend behavior to get to proper depth at start of line 1 # Behavior depth of 691.315809 meters set by local depth and desired altitude behavior descend { duration = 3600; horizontalMode = rudder; horizontal = 2.000000; pitch = -45.000000; speed = 1.500000; maxDepth = 701.445267; minAltitude = 30.000000; } # # Acoustic update 5 - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # Waypoint behavior to get to start of line 1 # Segment length 109.593894 meters # Minimum depth: 741.315809 meters looking forward 100.000000 meters along route # Maximum depth: 743.217667 meters looking forward 100.000000 meters along route # Vehicle depth: 50.000000 meters behavior waypoint { latitude = 70.784512; longitude = -136.117530; duration = 2000; depth = 50.000000; speed = 1.500000; } ####################################################### # Acoustic update 6 - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 180.0; pitch = -45.000000; 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 = 33; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000033; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### ####################################################### ####################################################### #######################################################