# 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: MudVolcano420m_M1V2.rte # Mission File: MudVolcano420m_M1V2.cfg # Distance: 71735.623875 (m) # Estimated Time: 49140 (s) 13.650 (hr) # Abort Time: 65949 (s) # Max battery life: 68400 (s) # Safety margin: 1800 (s) # Ascend time: 650 (s) # Way Points: 57 # Route Points: 676 # Survey Behaviors: # Behavior for waypoint mode 0: WaypointDepth # Behavior for waypoint mode 1: WaypointDepth # Behavior for waypoint mode 2: WaypointDepth # Behavior for waypoint mode 3: WaypointDepth # Behavior for waypoint mode 4: WaypointDepth # Descent style: Waypoint descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 33 dB # Multibeam transmit gain: 218 dB # Multibeam pulse width: 3.3e-05 usec # Multibeam minimum range fraction: 0.6 # Multibeam maximum range fraction: 5.0 # Subbottom enabled # Low sidescan enabled # High sidescan disabled # Benthic imaging camera control disabled: # # Mission Parameters: # Vehicle Survey Speed: 1.500000 (m/s) 2.915769 (knots) # Vehicle Ascent Speed: 1.500000 (m/s) 2.915769 (knots) # Vehicle Transit Speed: 1.500000 (m/s) 2.915769 (knots) # Minimum Vehicle Altitude 1: 50 (m) # Abort Vehicle Altitude 1: 20 (m) # Delta Depth Restart 1: 30 (m) # Desired Vehicle Altitude 1: 50 (m) # Desired Vehicle Altitude 2: 75 (m) # Desired Vehicle Altitude 3: 50 (m) # Constant Vehicle Depth 1: 50 (m) # Constant Vehicle Depth 2: 50 (m) # Maximum Vehicle Depth: 446.61777 (m) # Abort Vehicle Depth: 471.61777 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 100 (m) # Waypoint Spacing: 100 (m) # Maximum climb rate: 20 (degrees) # GPS Duration: 600 (s) # Descend Rate: 0.417 (m/s) # Ascend Rate: 1 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -135.309354 70.732436 -97.486792 0.000000 3 # 1 -135.362727 70.745161 -181.438362 2423.923718 3 # 2 -135.357527 70.743915 -176.439194 2660.444147 3 # 3 -135.353805 70.743034 -169.516502 2829.036083 5 # 4 -135.349473 70.742020 -158.654377 3024.527319 5 # 5 -135.346210 70.741206 -150.628086 3175.091430 3 # 6 -135.340758 70.739943 -143.142593 3420.294999 3 # 7 -135.347534 70.744349 -164.337933 3971.363665 3 # 8 -135.355287 70.740933 -165.308990 4447.376449 3 # 9 -135.347486 70.744334 -163.980999 4923.115837 3 # 10 -135.515680 70.781445 -409.836433 12365.153758 3 # 11 -135.577039 70.803962 -468.469788 15738.933393 3 # 12 -135.585309 70.801596 -466.724136 16141.108863 3 # 13 -135.540795 70.784724 -430.002571 18633.524316 3 # 14 -135.549062 70.782360 -432.764511 19035.690429 3 # 15 -135.593578 70.799231 -469.129059 21528.196751 3 # 16 -135.601844 70.796865 -471.958496 21930.315733 3 # 17 -135.557327 70.779996 -432.748085 24422.804723 3 # 18 -135.569092 70.778960 -443.141006 24870.252939 3 # 19 -135.527757 70.790779 -433.809639 26880.934486 3 # 20 -135.530434 70.791795 -437.737221 27030.943549 3 # 21 -135.571769 70.779975 -447.078362 29041.640145 3 # 22 -135.574447 70.780991 -447.480499 29191.708156 3 # 23 -135.533111 70.792811 -438.432320 31202.374391 3 # 24 -135.535789 70.793827 -439.305420 31352.400997 3 # 25 -135.577125 70.782006 -447.734009 33363.082291 3 # 26 -135.579803 70.783021 -447.853401 33513.059586 3 # 27 -135.538467 70.794842 -440.305550 35523.682846 3 # 28 -135.541145 70.795858 -441.304008 35673.702933 3 # 29 -135.582482 70.784036 -448.101364 37684.368990 3 # 30 -135.585161 70.785051 -448.919472 37834.363862 3 # 31 -135.543823 70.796874 -441.300072 39845.072719 3 # 32 -135.546501 70.797889 -442.753242 39995.002061 3 # 33 -135.587840 70.786066 -450.839485 42005.680609 3 # 34 -135.590519 70.787082 -452.255783 42155.753147 3 # 35 -135.549180 70.798905 -444.278450 44166.373609 3 # 36 -135.551859 70.799921 -447.250168 44316.404709 3 # 37 -135.593199 70.788097 -455.329765 46327.067975 3 # 38 -135.595879 70.789111 -457.753044 46476.989747 3 # 39 -135.554539 70.800936 -451.346878 48487.668163 3 # 40 -135.557219 70.801952 -454.873695 48637.716799 3 # 41 -135.598559 70.790126 -460.562103 50648.410319 3 # 42 -135.601239 70.791141 -463.820160 50798.409712 3 # 43 -135.559899 70.802967 -458.613373 52809.045212 3 # 44 -135.562579 70.803983 -462.640198 52959.087322 3 # 45 -135.603920 70.792156 -467.838936 54969.765643 3 # 46 -135.606601 70.793171 -470.940529 55119.782601 3 # 47 -135.565259 70.804998 -466.085159 57130.430608 3 # 48 -135.562403 70.778653 -437.380836 60070.502150 3 # 49 -135.552948 70.781292 -433.789040 60525.809361 3 # 50 -135.597972 70.797960 -470.148705 63013.691694 3 # 51 -135.589223 70.800482 -467.190498 63440.594776 3 # 52 -135.544996 70.783575 -431.254730 65929.129217 3 # 53 -135.536157 70.786065 -432.501221 66356.370721 3 # 54 -135.581357 70.802766 -468.921814 68851.034954 3 # 55 -135.572956 70.805139 -471.825897 69257.345100 3 # 56 -135.528647 70.788374 -433.456024 71735.623875 4 # # A total of 676 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 63000; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 446.617770; abortDepth = 471.617770; 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 = 650; 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 56 # Segment length 149.737773 meters # Minimum depth: 433.456024 meters looking forward 100.000000 meters along route # Maximum depth: 436.104026 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 383.456024 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.788374; longitude = -135.528647; duration = 598; # abortOnTimeout = True; initialDepth = 386.105950; finalDepth = 383.456024; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 383.456024 # Seafloor depth: -433.456024 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 101.333821 meters # Minimum depth: 436.105950 meters looking forward 100.000000 meters along route # Maximum depth: 436.415791 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 386.105950 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.789387; longitude = -135.531324; duration = 405; initialDepth = 386.172120; finalDepth = 386.105950; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 386.10595 # Seafloor depth: -436.105950 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 100.308130 meters # Minimum depth: 436.172120 meters looking forward 100.000000 meters along route # Maximum depth: 436.523957 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 386.172120 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.790072; longitude = -135.533135; duration = 401; initialDepth = 385.820603; finalDepth = 386.172120; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.248461 # Actual altitude: 50.248461 # Commanded vehicle depth: 386.17212 # Seafloor depth: -436.420581 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 100.818762 meters # Minimum depth: 435.820603 meters looking forward 100.000000 meters along route # Maximum depth: 436.227321 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 385.820603 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.790751; longitude = -135.534928; duration = 403; initialDepth = 385.538964; finalDepth = 385.820603; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.337562 # Actual altitude: 50.337562 # Commanded vehicle depth: 385.820603 # Seafloor depth: -436.158165 # 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 56 # Segment length 100.817287 meters # Minimum depth: 435.538964 meters looking forward 100.000000 meters along route # Maximum depth: 435.806423 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 385.538964 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.791433; longitude = -135.536731; duration = 403; initialDepth = 385.280106; finalDepth = 385.538964; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.337562 # Actual altitude: 50.337562 # Commanded vehicle depth: 385.538964 # Seafloor depth: -435.806423 # 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 56 # Segment length 100.815811 meters # Minimum depth: 435.280106 meters looking forward 100.000000 meters along route # Maximum depth: 435.744432 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 385.280106 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.792115; longitude = -135.538533; duration = 403; initialDepth = 385.070305; finalDepth = 385.280106; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.267459 # Actual altitude: 50.267459 # Commanded vehicle depth: 385.280106 # Seafloor depth: -435.410515 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 100.814335 meters # Minimum depth: 435.070305 meters looking forward 100.000000 meters along route # Maximum depth: 435.828222 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 385.070305 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.792796; longitude = -135.540335; duration = 403; initialDepth = 384.552476; finalDepth = 385.070305; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.720567 # Actual altitude: 50.720567 # Commanded vehicle depth: 385.070305 # Seafloor depth: -435.790872 # 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 56 # Segment length 100.812860 meters # Minimum depth: 434.552476 meters looking forward 100.000000 meters along route # Maximum depth: 435.121394 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 384.552476 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.793478; longitude = -135.542138; duration = 403; initialDepth = 384.587124; finalDepth = 384.552476; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.720567 # Actual altitude: 50.720567 # Commanded vehicle depth: 384.552476 # Seafloor depth: -435.121394 # 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 56 # Segment length 100.811384 meters # Minimum depth: 434.587124 meters looking forward 100.000000 meters along route # Maximum depth: 434.961589 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 384.587124 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794160; longitude = -135.543940; duration = 403; initialDepth = 384.410695; finalDepth = 384.587124; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.568918 # Actual altitude: 50.568918 # Commanded vehicle depth: 384.587124 # Seafloor depth: -434.615568 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 100.809910 meters # Minimum depth: 434.410695 meters looking forward 100.000000 meters along route # Maximum depth: 435.198000 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 384.410695 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794842; longitude = -135.545742; duration = 403; initialDepth = 384.947323; finalDepth = 384.410695; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.177624 # Actual altitude: 50.177624 # Commanded vehicle depth: 384.410695 # Seafloor depth: -434.588319 # 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 56 # Segment length 100.808433 meters # Minimum depth: 434.947323 meters looking forward 100.000000 meters along route # Maximum depth: 435.569321 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 384.947323 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795524; longitude = -135.547545; duration = 403; initialDepth = 385.143027; finalDepth = 384.947323; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.308661 # Actual altitude: 50.308661 # Commanded vehicle depth: 384.947323 # Seafloor depth: -435.255984 # 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 56 # Segment length 100.806959 meters # Minimum depth: 435.143027 meters looking forward 100.000000 meters along route # Maximum depth: 435.892328 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 385.143027 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.796206; longitude = -135.549347; duration = 403; initialDepth = 385.745877; finalDepth = 385.143027; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.308661 # Actual altitude: 50.308661 # Commanded vehicle depth: 385.143027 # Seafloor depth: -435.168681 # 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 56 # Segment length 100.805483 meters # Minimum depth: 435.745877 meters looking forward 100.000000 meters along route # Maximum depth: 437.464673 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 385.745877 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.796888; longitude = -135.551149; duration = 403; initialDepth = 387.508144; finalDepth = 385.745877; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.025654 # Actual altitude: 50.025654 # Commanded vehicle depth: 385.745877 # Seafloor depth: -435.761426 # 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 56 # Segment length 100.804008 meters # Minimum depth: 437.508144 meters looking forward 100.000000 meters along route # Maximum depth: 440.499245 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 387.508144 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.797570; longitude = -135.552951; duration = 403; initialDepth = 390.589676; finalDepth = 387.508144; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.015549 # Actual altitude: 50.015549 # Commanded vehicle depth: 387.508144 # Seafloor depth: -437.508144 # 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 56 # Segment length 100.802532 meters # Minimum depth: 440.589676 meters looking forward 100.000000 meters along route # Maximum depth: 443.090850 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 390.589676 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.798252; longitude = -135.554754; duration = 403; initialDepth = 393.267938; finalDepth = 390.589676; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 390.589676 # Seafloor depth: -440.589676 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 101.265287 meters # Minimum depth: 443.267938 meters looking forward 100.000000 meters along route # Maximum depth: 446.170323 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.267938 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.798934; longitude = -135.556556; duration = 405; initialDepth = 396.188122; finalDepth = 393.267938; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 393.267938 # Seafloor depth: -443.267938 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 100.335353 meters # Minimum depth: 446.188122 meters looking forward 100.000000 meters along route # Maximum depth: 449.140079 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 396.188122 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.799619; longitude = -135.558367; duration = 401; initialDepth = 399.181491; finalDepth = 396.188122; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 396.188122 # Seafloor depth: -446.188122 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 100.798107 meters # Minimum depth: 449.181491 meters looking forward 100.000000 meters along route # Maximum depth: 452.321143 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 399.181491 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.800298; longitude = -135.560161; duration = 403; initialDepth = 402.377154; finalDepth = 399.181491; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 399.181491 # Seafloor depth: -449.181491 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 100.796632 meters # Minimum depth: 452.377154 meters looking forward 100.000000 meters along route # Maximum depth: 455.651049 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 402.377154 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.800980; longitude = -135.561963; duration = 403; initialDepth = 405.795993; finalDepth = 402.377154; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 402.377154 # Seafloor depth: -452.377154 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 100.795156 meters # Minimum depth: 455.795993 meters looking forward 100.000000 meters along route # Maximum depth: 458.289815 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 405.795993 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.801662; longitude = -135.563765; duration = 403; initialDepth = 408.479406; finalDepth = 405.795993; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 405.795993 # Seafloor depth: -455.795993 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 100.793682 meters # Minimum depth: 458.479406 meters looking forward 100.000000 meters along route # Maximum depth: 461.170984 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 408.479406 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.802344; longitude = -135.565568; duration = 403; initialDepth = 411.173494; finalDepth = 408.479406; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 408.479406 # Seafloor depth: -458.479406 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 100.792207 meters # Minimum depth: 461.173494 meters looking forward 100.000000 meters along route # Maximum depth: 464.422713 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 411.173494 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.803025; longitude = -135.567370; duration = 403; initialDepth = 414.470689; finalDepth = 411.173494; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 411.173494 # Seafloor depth: -461.173494 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 105.044574 meters # Minimum depth: 464.470689 meters looking forward 100.000000 meters along route # Maximum depth: 466.684658 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 414.470689 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.803707; longitude = -135.569172; duration = 420; initialDepth = 416.824564; finalDepth = 414.470689; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 414.470689 # Seafloor depth: -464.470689 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 106.550289 meters # Minimum depth: 466.824564 meters looking forward 100.000000 meters along route # Maximum depth: 471.848544 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 416.824564 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.804418; longitude = -135.571051; duration = 426; initialDepth = 418.673816; finalDepth = 416.824564; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 416.824564 # Seafloor depth: -466.824564 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; 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 55 # Segment length 92.542667 meters # Minimum depth: 468.673816 meters looking forward 100.000000 meters along route # Maximum depth: 472.060393 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 418.673816 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.805139; longitude = -135.572956; duration = 370; # abortOnTimeout = True; initialDepth = 418.742786; finalDepth = 418.673816; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.152081 # Actual altitude: 53.152081 # Commanded vehicle depth: 418.673816 # Seafloor depth: -471.825897 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 105.875316 meters # Minimum depth: 468.742786 meters looking forward 100.000000 meters along route # Maximum depth: 469.380895 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 418.742786 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.804599; longitude = -135.574869; duration = 423; initialDepth = 418.175713; finalDepth = 418.742786; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.152081 # Actual altitude: 53.152081 # Commanded vehicle depth: 418.742786 # Seafloor depth: -469.102280 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 105.205250 meters # Minimum depth: 468.175713 meters looking forward 100.000000 meters along route # Maximum depth: 468.782604 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 418.175713 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.803980; longitude = -135.577059; duration = 420; initialDepth = 417.936148; finalDepth = 418.175713; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.562355 # Actual altitude: 50.562355 # Commanded vehicle depth: 418.175713 # Seafloor depth: -468.738068 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 102.686913 meters # Minimum depth: 467.936148 meters looking forward 100.000000 meters along route # Maximum depth: 468.817538 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 417.936148 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.803366; longitude = -135.579234; duration = 410; initialDepth = 412.944165; finalDepth = 417.936148; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.562355 # Actual altitude: 50.562355 # Commanded vehicle depth: 417.936148 # Seafloor depth: -468.093420 # 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 54 # Segment length 144.573266 meters # Minimum depth: 462.944165 meters looking forward 100.000000 meters along route # Maximum depth: 468.921814 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 412.944165 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.802766; longitude = -135.581357; duration = 578; # abortOnTimeout = True; initialDepth = 408.394216; finalDepth = 412.944165; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.977649 # Actual altitude: 55.977649 # Commanded vehicle depth: 412.944165 # Seafloor depth: -468.921814 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 101.846046 meters # Minimum depth: 458.394216 meters looking forward 100.000000 meters along route # Maximum depth: 462.649010 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 408.394216 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.801798; longitude = -135.578737; duration = 407; initialDepth = 403.924512; finalDepth = 408.394216; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.977649 # Actual altitude: 55.977649 # Commanded vehicle depth: 408.394216 # Seafloor depth: -462.649010 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 101.847576 meters # Minimum depth: 453.924512 meters looking forward 100.000000 meters along route # Maximum depth: 458.323212 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 403.924512 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.801116; longitude = -135.576891; duration = 407; initialDepth = 399.114608; finalDepth = 403.924512; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.3987 # Actual altitude: 54.3987 # Commanded vehicle depth: 403.924512 # Seafloor depth: -458.323212 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 101.849107 meters # Minimum depth: 449.114608 meters looking forward 100.000000 meters along route # Maximum depth: 453.681698 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 399.114608 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.800434; longitude = -135.575046; duration = 407; initialDepth = 394.940736; finalDepth = 399.114608; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.56709 # Actual altitude: 54.56709 # Commanded vehicle depth: 399.114608 # Seafloor depth: -453.681698 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 103.573848 meters # Minimum depth: 444.940736 meters looking forward 100.000000 meters along route # Maximum depth: 449.016409 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 394.940736 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.799752; longitude = -135.573200; duration = 414; initialDepth = 391.244537; finalDepth = 394.940736; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.56709 # Actual altitude: 54.56709 # Commanded vehicle depth: 394.940736 # Seafloor depth: -449.016409 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 100.128960 meters # Minimum depth: 441.244537 meters looking forward 100.000000 meters along route # Maximum depth: 444.867095 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 391.244537 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.799059; longitude = -135.571323; duration = 400; initialDepth = 385.248762; finalDepth = 391.244537; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.075673 # Actual altitude: 54.075673 # Commanded vehicle depth: 391.244537 # Seafloor depth: -444.867095 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 103.093379 meters # Minimum depth: 435.248762 meters looking forward 100.000000 meters along route # Maximum depth: 441.175472 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 385.248762 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.798388; longitude = -135.569509; duration = 412; initialDepth = 377.808513; finalDepth = 385.248762; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.92671 # Actual altitude: 55.92671 # Commanded vehicle depth: 385.248762 # Seafloor depth: -441.175472 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 100.615554 meters # Minimum depth: 427.808513 meters looking forward 100.000000 meters along route # Maximum depth: 435.144089 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 377.808513 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.797698; longitude = -135.567641; duration = 402; initialDepth = 370.739519; finalDepth = 377.808513; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.335576 # Actual altitude: 57.335576 # Commanded vehicle depth: 377.808513 # Seafloor depth: -435.144089 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 102.612880 meters # Minimum depth: 420.739519 meters looking forward 100.000000 meters along route # Maximum depth: 427.503973 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 370.739519 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.797024; longitude = -135.565818; duration = 410; initialDepth = 369.848308; finalDepth = 370.739519; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.335576 # Actual altitude: 57.335576 # Commanded vehicle depth: 370.739519 # Seafloor depth: -427.503973 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 101.102177 meters # Minimum depth: 419.848308 meters looking forward 100.000000 meters along route # Maximum depth: 420.726363 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.848308 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.796337; longitude = -135.563959; duration = 404; initialDepth = 369.562550; finalDepth = 369.848308; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.764454 # Actual altitude: 56.764454 # Commanded vehicle depth: 369.848308 # Seafloor depth: -420.726363 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 102.132353 meters # Minimum depth: 419.562550 meters looking forward 100.000000 meters along route # Maximum depth: 419.788924 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.562550 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795661; longitude = -135.562127; duration = 408; initialDepth = 369.310991; finalDepth = 369.562550; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.878055 # Actual altitude: 50.878055 # Commanded vehicle depth: 369.56255 # Seafloor depth: -419.788924 # 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 54 # Segment length 101.588829 meters # Minimum depth: 419.310991 meters looking forward 100.000000 meters along route # Maximum depth: 419.561792 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.310991 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794977; longitude = -135.560276; duration = 406; initialDepth = 369.463810; finalDepth = 369.310991; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.250801 # Actual altitude: 50.250801 # Commanded vehicle depth: 369.310991 # Seafloor depth: -419.561792 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 101.862888 meters # Minimum depth: 419.463810 meters looking forward 100.000000 meters along route # Maximum depth: 419.672604 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.463810 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794297; longitude = -135.558435; duration = 407; initialDepth = 369.598236; finalDepth = 369.463810; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.250801 # Actual altitude: 50.250801 # Commanded vehicle depth: 369.46381 # Seafloor depth: -419.463810 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 101.864420 meters # Minimum depth: 419.598236 meters looking forward 100.000000 meters along route # Maximum depth: 419.881253 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.598236 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.793615; longitude = -135.556590; duration = 407; initialDepth = 369.723874; finalDepth = 369.598236; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 369.598236 # Seafloor depth: -419.598236 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 101.865951 meters # Minimum depth: 419.723874 meters looking forward 100.000000 meters along route # Maximum depth: 419.892876 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.723874 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.792933; longitude = -135.554744; duration = 407; initialDepth = 369.887433; finalDepth = 369.723874; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.125706 # Actual altitude: 50.125706 # Commanded vehicle depth: 369.723874 # Seafloor depth: -419.849580 # 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 54 # Segment length 101.867482 meters # Minimum depth: 419.887433 meters looking forward 100.000000 meters along route # Maximum depth: 420.814366 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.887433 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.792251; longitude = -135.552899; duration = 407; initialDepth = 370.878709; finalDepth = 369.887433; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.125706 # Actual altitude: 50.125706 # Commanded vehicle depth: 369.887433 # Seafloor depth: -419.887433 # 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 54 # Segment length 101.869014 meters # Minimum depth: 420.878709 meters looking forward 100.000000 meters along route # Maximum depth: 422.114710 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 370.878709 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.791569; longitude = -135.551053; duration = 407; initialDepth = 371.849936; finalDepth = 370.878709; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 370.878709 # Seafloor depth: -420.878709 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 101.870545 meters # Minimum depth: 421.849936 meters looking forward 100.000000 meters along route # Maximum depth: 427.299202 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 371.849936 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.790887; longitude = -135.549207; duration = 407; initialDepth = 377.643328; finalDepth = 371.849936; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.250251 # Actual altitude: 50.250251 # Commanded vehicle depth: 371.849936 # Seafloor depth: -422.100187 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 101.872077 meters # Minimum depth: 427.643328 meters looking forward 100.000000 meters along route # Maximum depth: 430.379586 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 377.643328 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.790205; longitude = -135.547362; duration = 407; initialDepth = 380.413992; finalDepth = 377.643328; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.250251 # Actual altitude: 50.250251 # Commanded vehicle depth: 377.643328 # Seafloor depth: -427.643328 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 103.733790 meters # Minimum depth: 430.413992 meters looking forward 100.000000 meters along route # Maximum depth: 432.241812 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 380.413992 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.789523; longitude = -135.545516; duration = 414; initialDepth = 382.257015; finalDepth = 380.413992; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 380.413992 # Seafloor depth: -430.413992 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 100.014959 meters # Minimum depth: 432.257015 meters looking forward 100.000000 meters along route # Maximum depth: 433.390970 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 382.257015 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.788829; longitude = -135.543637; duration = 400; initialDepth = 383.451055; finalDepth = 382.257015; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 382.257015 # Seafloor depth: -432.257015 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 103.253217 meters # Minimum depth: 433.451055 meters looking forward 100.000000 meters along route # Maximum depth: 434.283644 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 383.451055 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.788159; longitude = -135.541825; duration = 413; initialDepth = 382.960546; finalDepth = 383.451055; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 383.451055 # Seafloor depth: -433.451055 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 105.400713 meters # Minimum depth: 432.960546 meters looking forward 100.000000 meters along route # Maximum depth: 434.508489 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 382.960546 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.787468; longitude = -135.539955; duration = 421; initialDepth = 382.810448; finalDepth = 382.960546; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.336081 # Actual altitude: 51.336081 # Commanded vehicle depth: 382.960546 # Seafloor depth: -434.296627 # 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 54 # Segment length 104.225202 meters # Minimum depth: 432.810448 meters looking forward 100.000000 meters along route # Maximum depth: 434.480196 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 382.810448 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.786763; longitude = -135.538045; duration = 416; initialDepth = 380.853040; finalDepth = 382.810448; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.336081 # Actual altitude: 51.336081 # Commanded vehicle depth: 382.810448 # Seafloor depth: -432.876551 # 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; } # ####################################################### # # 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 53 # Segment length 111.036769 meters # Minimum depth: 430.853040 meters looking forward 100.000000 meters along route # Maximum depth: 433.502228 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 380.853040 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.786065; longitude = -135.536157; duration = 444; # abortOnTimeout = True; initialDepth = 380.084954; finalDepth = 380.853040; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.648181 # Actual altitude: 51.648181 # Commanded vehicle depth: 380.85304 # Seafloor depth: -432.501221 # 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 53 # Segment length 105.477200 meters # Minimum depth: 430.084954 meters looking forward 100.000000 meters along route # Maximum depth: 432.397283 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 380.084954 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785418; longitude = -135.538454; duration = 421; initialDepth = 379.916349; finalDepth = 380.084954; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.312329 # Actual altitude: 52.312329 # Commanded vehicle depth: 380.084954 # Seafloor depth: -432.397283 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 105.479076 meters # Minimum depth: 429.916349 meters looking forward 100.000000 meters along route # Maximum depth: 430.176463 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 379.916349 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.784803; longitude = -135.540636; duration = 421; initialDepth = 380.184479; finalDepth = 379.916349; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.312329 # Actual altitude: 52.312329 # Commanded vehicle depth: 379.916349 # Seafloor depth: -430.110526 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 105.248459 meters # Minimum depth: 430.184479 meters looking forward 100.000000 meters along route # Maximum depth: 431.211104 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 380.184479 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.784188; longitude = -135.542819; duration = 420; initialDepth = 381.254730; finalDepth = 380.184479; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.194177 # Actual altitude: 50.194177 # Commanded vehicle depth: 380.184479 # Seafloor depth: -430.184479 # 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; } # ####################################################### # # 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 52 # Segment length 172.921290 meters # Minimum depth: 431.254730 meters looking forward 100.000000 meters along route # Maximum depth: 434.339675 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 381.254730 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.783575; longitude = -135.544996; duration = 691; # abortOnTimeout = True; initialDepth = 384.389480; finalDepth = 381.254730; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 381.25473 # Seafloor depth: -431.254730 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 100.388268 meters # Minimum depth: 434.389480 meters looking forward 100.000000 meters along route # Maximum depth: 435.500442 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 384.389480 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.784750; longitude = -135.548069; duration = 401; initialDepth = 384.895199; finalDepth = 384.389480; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 384.38948 # Seafloor depth: -434.389480 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 100.386818 meters # Minimum depth: 434.895199 meters looking forward 100.000000 meters along route # Maximum depth: 435.295968 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 384.895199 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785432; longitude = -135.549853; duration = 401; initialDepth = 383.994123; finalDepth = 384.895199; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.322052 # Actual altitude: 50.322052 # Commanded vehicle depth: 384.895199 # Seafloor depth: -435.217251 # 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 52 # Segment length 100.385365 meters # Minimum depth: 433.994123 meters looking forward 100.000000 meters along route # Maximum depth: 434.991554 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 383.994123 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.786113; longitude = -135.551636; duration = 401; initialDepth = 381.454341; finalDepth = 383.994123; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.997431 # Actual altitude: 50.997431 # Commanded vehicle depth: 383.994123 # Seafloor depth: -434.991554 # 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 52 # Segment length 100.383913 meters # Minimum depth: 431.454341 meters looking forward 100.000000 meters along route # Maximum depth: 433.952798 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 381.454341 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.786795; longitude = -135.553420; duration = 401; initialDepth = 377.074967; finalDepth = 381.454341; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.498457 # Actual altitude: 52.498457 # Commanded vehicle depth: 381.454341 # Seafloor depth: -433.952798 # 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 52 # Segment length 100.382461 meters # Minimum depth: 427.074967 meters looking forward 100.000000 meters along route # Maximum depth: 431.229812 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 377.074967 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.787477; longitude = -135.555204; duration = 401; initialDepth = 370.469766; finalDepth = 377.074967; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.154845 # Actual altitude: 54.154845 # Commanded vehicle depth: 377.074967 # Seafloor depth: -431.229812 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 100.603525 meters # Minimum depth: 420.469766 meters looking forward 100.000000 meters along route # Maximum depth: 426.634931 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 370.469766 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.788159; longitude = -135.556988; duration = 402; initialDepth = 370.367423; finalDepth = 370.469766; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.165165 # Actual altitude: 56.165165 # Commanded vehicle depth: 370.469766 # Seafloor depth: -426.634931 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 100.157043 meters # Minimum depth: 420.367423 meters looking forward 100.000000 meters along route # Maximum depth: 420.990777 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 370.367423 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.788843; longitude = -135.558776; duration = 400; initialDepth = 368.643341; finalDepth = 370.367423; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.165165 # Actual altitude: 56.165165 # Commanded vehicle depth: 370.367423 # Seafloor depth: -420.467036 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 100.378106 meters # Minimum depth: 418.643341 meters looking forward 100.000000 meters along route # Maximum depth: 420.491572 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 368.643341 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.789523; longitude = -135.560556; duration = 401; initialDepth = 368.505591; finalDepth = 368.643341; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.848231 # Actual altitude: 51.848231 # Commanded vehicle depth: 368.643341 # Seafloor depth: -420.491572 # 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 52 # Segment length 100.376654 meters # Minimum depth: 418.505591 meters looking forward 100.000000 meters along route # Maximum depth: 419.037105 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 368.505591 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.790205; longitude = -135.562340; duration = 401; initialDepth = 368.443788; finalDepth = 368.505591; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.848231 # Actual altitude: 51.848231 # Commanded vehicle depth: 368.505591 # Seafloor depth: -418.618310 # 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 52 # Segment length 100.375203 meters # Minimum depth: 418.443788 meters looking forward 100.000000 meters along route # Maximum depth: 419.014057 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 368.443788 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.790887; longitude = -135.564124; duration = 401; initialDepth = 368.604009; finalDepth = 368.443788; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.570269 # Actual altitude: 50.570269 # Commanded vehicle depth: 368.443788 # Seafloor depth: -419.014057 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 100.373751 meters # Minimum depth: 418.604009 meters looking forward 100.000000 meters along route # Maximum depth: 418.780764 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 368.604009 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.791569; longitude = -135.565907; duration = 401; initialDepth = 368.753639; finalDepth = 368.604009; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.570269 # Actual altitude: 50.570269 # Commanded vehicle depth: 368.604009 # Seafloor depth: -418.669900 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 100.372300 meters # Minimum depth: 418.753639 meters looking forward 100.000000 meters along route # Maximum depth: 419.626238 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 368.753639 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.792251; longitude = -135.567691; duration = 401; initialDepth = 369.703186; finalDepth = 368.753639; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.065891 # Actual altitude: 50.065891 # Commanded vehicle depth: 368.753639 # Seafloor depth: -418.753639 # 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 52 # Segment length 100.370848 meters # Minimum depth: 419.703186 meters looking forward 100.000000 meters along route # Maximum depth: 420.534179 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.703186 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.792933; longitude = -135.569475; duration = 401; initialDepth = 369.708856; finalDepth = 369.703186; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 369.703186 # Seafloor depth: -419.703186 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 100.369396 meters # Minimum depth: 419.708856 meters looking forward 100.000000 meters along route # Maximum depth: 420.853395 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.708856 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.793615; longitude = -135.571259; duration = 401; initialDepth = 370.606194; finalDepth = 369.708856; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.836336 # Actual altitude: 50.836336 # Commanded vehicle depth: 369.708856 # Seafloor depth: -420.545192 # 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 52 # Segment length 100.367945 meters # Minimum depth: 420.606194 meters looking forward 100.000000 meters along route # Maximum depth: 426.110634 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 370.606194 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794297; longitude = -135.573043; duration = 401; initialDepth = 376.813112; finalDepth = 370.606194; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.836336 # Actual altitude: 50.836336 # Commanded vehicle depth: 370.606194 # Seafloor depth: -420.651206 # 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 52 # Segment length 100.366493 meters # Minimum depth: 426.813112 meters looking forward 100.000000 meters along route # Maximum depth: 431.791779 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 376.813112 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794979; longitude = -135.574827; duration = 401; initialDepth = 382.308698; finalDepth = 376.813112; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.045012 # Actual altitude: 50.045012 # Commanded vehicle depth: 376.813112 # Seafloor depth: -426.813112 # 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 52 # Segment length 100.365042 meters # Minimum depth: 432.308698 meters looking forward 100.000000 meters along route # Maximum depth: 437.768337 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 382.308698 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795661; longitude = -135.576611; duration = 401; initialDepth = 388.157700; finalDepth = 382.308698; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 382.308698 # Seafloor depth: -432.308698 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 100.363591 meters # Minimum depth: 438.157700 meters looking forward 100.000000 meters along route # Maximum depth: 443.020206 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 388.157700 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.796342; longitude = -135.578394; duration = 401; initialDepth = 393.361886; finalDepth = 388.157700; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 388.1577 # Seafloor depth: -438.157700 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 100.362139 meters # Minimum depth: 443.361886 meters looking forward 100.000000 meters along route # Maximum depth: 448.619403 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.361886 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.797024; longitude = -135.580178; duration = 401; initialDepth = 398.621326; finalDepth = 393.361886; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 393.361886 # Seafloor depth: -443.361886 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 100.360687 meters # Minimum depth: 448.621326 meters looking forward 100.000000 meters along route # Maximum depth: 454.195973 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 398.621326 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.797706; longitude = -135.581962; duration = 401; initialDepth = 404.229374; finalDepth = 398.621326; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 398.621326 # Seafloor depth: -448.621326 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 100.359237 meters # Minimum depth: 454.229374 meters looking forward 100.000000 meters along route # Maximum depth: 459.216910 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 404.229374 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.798388; longitude = -135.583746; duration = 401; initialDepth = 409.270220; finalDepth = 404.229374; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 404.229374 # Seafloor depth: -454.229374 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 106.166858 meters # Minimum depth: 459.270220 meters looking forward 100.000000 meters along route # Maximum depth: 464.054378 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 409.270220 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.799070; longitude = -135.585530; duration = 424; initialDepth = 414.264006; finalDepth = 409.270220; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 409.27022 # Seafloor depth: -459.270220 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 101.597508 meters # Minimum depth: 464.264006 meters looking forward 100.000000 meters along route # Maximum depth: 467.066330 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 414.264006 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.799792; longitude = -135.587417; duration = 406; initialDepth = 417.190498; finalDepth = 414.264006; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 414.264006 # Seafloor depth: -464.264006 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; 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 51 # Segment length 111.525067 meters # Minimum depth: 467.190498 meters looking forward 100.000000 meters along route # Maximum depth: 468.614178 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 417.190498 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.800482; longitude = -135.589223; duration = 446; # abortOnTimeout = True; initialDepth = 418.439317; finalDepth = 417.190498; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 417.190498 # Seafloor depth: -467.190498 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 106.477850 meters # Minimum depth: 468.439317 meters looking forward 100.000000 meters along route # Maximum depth: 469.137472 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 418.439317 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.799823; longitude = -135.591509; duration = 425; initialDepth = 418.654351; finalDepth = 418.439317; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.024642 # Actual altitude: 50.024642 # Commanded vehicle depth: 418.439317 # Seafloor depth: -468.463959 # 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 51 # Segment length 106.479749 meters # Minimum depth: 468.654351 meters looking forward 100.000000 meters along route # Maximum depth: 469.551773 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 418.654351 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.799194; longitude = -135.593691; duration = 425; initialDepth = 419.631144; finalDepth = 418.654351; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.27535 # Actual altitude: 50.27535 # Commanded vehicle depth: 418.654351 # Seafloor depth: -468.929701 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 102.420416 meters # Minimum depth: 469.631144 meters looking forward 100.000000 meters along route # Maximum depth: 470.171570 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 419.631144 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.798565; longitude = -135.595873; duration = 409; initialDepth = 415.890733; finalDepth = 419.631144; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.27535 # Actual altitude: 50.27535 # Commanded vehicle depth: 419.631144 # Seafloor depth: -469.648901 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 50 # Segment length 139.620647 meters # Minimum depth: 465.890733 meters looking forward 100.000000 meters along route # Maximum depth: 470.148705 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 415.890733 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.797960; longitude = -135.597972; duration = 558; # abortOnTimeout = True; initialDepth = 413.084694; finalDepth = 415.890733; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.257972 # Actual altitude: 54.257972 # Commanded vehicle depth: 415.890733 # Seafloor depth: -470.148705 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 101.770261 meters # Minimum depth: 463.084694 meters looking forward 100.000000 meters along route # Maximum depth: 465.847486 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 413.084694 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.797024; longitude = -135.595445; duration = 407; initialDepth = 409.110110; finalDepth = 413.084694; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.257972 # Actual altitude: 54.257972 # Commanded vehicle depth: 413.084694 # Seafloor depth: -465.847486 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 101.771787 meters # Minimum depth: 459.110110 meters looking forward 100.000000 meters along route # Maximum depth: 462.976231 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 409.110110 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.796342; longitude = -135.593603; duration = 407; initialDepth = 405.226699; finalDepth = 409.110110; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.866121 # Actual altitude: 53.866121 # Commanded vehicle depth: 409.11011 # Seafloor depth: -462.976231 # 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 50 # Segment length 101.773314 meters # Minimum depth: 455.226699 meters looking forward 100.000000 meters along route # Maximum depth: 459.061535 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 405.226699 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795661; longitude = -135.591761; duration = 407; initialDepth = 401.680645; finalDepth = 405.226699; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.866121 # Actual altitude: 53.866121 # Commanded vehicle depth: 405.226699 # Seafloor depth: -459.061535 # 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 50 # Segment length 101.774840 meters # Minimum depth: 451.680645 meters looking forward 100.000000 meters along route # Maximum depth: 455.006840 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 401.680645 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794979; longitude = -135.589919; duration = 407; initialDepth = 397.278665; finalDepth = 401.680645; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.834836 # Actual altitude: 53.834836 # Commanded vehicle depth: 401.680645 # Seafloor depth: -455.006840 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 101.776367 meters # Minimum depth: 447.278665 meters looking forward 100.000000 meters along route # Maximum depth: 451.663027 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 397.278665 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794297; longitude = -135.588077; duration = 407; initialDepth = 393.262897; finalDepth = 397.278665; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.384362 # Actual altitude: 54.384362 # Commanded vehicle depth: 397.278665 # Seafloor depth: -451.663027 # 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 50 # Segment length 101.777893 meters # Minimum depth: 443.262897 meters looking forward 100.000000 meters along route # Maximum depth: 447.139873 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.262897 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.793615; longitude = -135.586235; duration = 407; initialDepth = 390.133776; finalDepth = 393.262897; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.384362 # Actual altitude: 54.384362 # Commanded vehicle depth: 393.262897 # Seafloor depth: -447.139873 # 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 50 # Segment length 101.779420 meters # Minimum depth: 440.133776 meters looking forward 100.000000 meters along route # Maximum depth: 443.212001 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 390.133776 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.792933; longitude = -135.584392; duration = 407; initialDepth = 386.407924; finalDepth = 390.133776; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.876976 # Actual altitude: 53.876976 # Commanded vehicle depth: 390.133776 # Seafloor depth: -443.212001 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 101.780947 meters # Minimum depth: 436.407924 meters looking forward 100.000000 meters along route # Maximum depth: 439.992144 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 386.407924 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.792251; longitude = -135.582550; duration = 407; initialDepth = 383.733853; finalDepth = 386.407924; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.58422 # Actual altitude: 53.58422 # Commanded vehicle depth: 386.407924 # Seafloor depth: -439.992144 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 101.782473 meters # Minimum depth: 433.733853 meters looking forward 100.000000 meters along route # Maximum depth: 436.388270 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 383.733853 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.791569; longitude = -135.580708; duration = 407; initialDepth = 374.857941; finalDepth = 383.733853; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.58422 # Actual altitude: 53.58422 # Commanded vehicle depth: 383.733853 # Seafloor depth: -436.388270 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 101.784001 meters # Minimum depth: 424.857941 meters looking forward 100.000000 meters along route # Maximum depth: 433.576393 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 374.857941 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.790887; longitude = -135.578866; duration = 407; initialDepth = 373.429692; finalDepth = 374.857941; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.718452 # Actual altitude: 58.718452 # Commanded vehicle depth: 374.857941 # Seafloor depth: -433.576393 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 101.785526 meters # Minimum depth: 423.429692 meters looking forward 100.000000 meters along route # Maximum depth: 424.776432 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 373.429692 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.790205; longitude = -135.577024; duration = 407; initialDepth = 373.605298; finalDepth = 373.429692; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.718452 # Actual altitude: 58.718452 # Commanded vehicle depth: 373.429692 # Seafloor depth: -424.776432 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 101.787054 meters # Minimum depth: 423.605298 meters looking forward 100.000000 meters along route # Maximum depth: 425.295562 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 373.605298 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.789523; longitude = -135.575182; duration = 407; initialDepth = 375.282257; finalDepth = 373.605298; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.34674 # Actual altitude: 51.34674 # Commanded vehicle depth: 373.605298 # Seafloor depth: -423.605298 # 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 50 # Segment length 101.788581 meters # Minimum depth: 425.282257 meters looking forward 100.000000 meters along route # Maximum depth: 427.612577 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 375.282257 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.788841; longitude = -135.573340; duration = 407; initialDepth = 377.760111; finalDepth = 375.282257; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 375.282257 # Seafloor depth: -425.282257 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 101.790107 meters # Minimum depth: 427.760111 meters looking forward 100.000000 meters along route # Maximum depth: 431.729506 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 377.760111 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.788159; longitude = -135.571498; duration = 407; initialDepth = 381.807017; finalDepth = 377.760111; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 377.760111 # Seafloor depth: -427.760111 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 101.791634 meters # Minimum depth: 431.807017 meters looking forward 100.000000 meters along route # Maximum depth: 433.843206 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 381.807017 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.787477; longitude = -135.569656; duration = 407; initialDepth = 384.042883; finalDepth = 381.807017; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 381.807017 # Seafloor depth: -431.807017 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 101.793161 meters # Minimum depth: 434.042883 meters looking forward 100.000000 meters along route # Maximum depth: 436.440915 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 384.042883 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.786795; longitude = -135.567814; duration = 407; initialDepth = 386.477916; finalDepth = 384.042883; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 384.042883 # Seafloor depth: -434.042883 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 101.794688 meters # Minimum depth: 436.477916 meters looking forward 100.000000 meters along route # Maximum depth: 438.073838 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 386.477916 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.786113; longitude = -135.565972; duration = 407; initialDepth = 387.682417; finalDepth = 386.477916; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 386.477916 # Seafloor depth: -436.477916 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 101.796215 meters # Minimum depth: 437.682417 meters looking forward 100.000000 meters along route # Maximum depth: 438.628878 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 387.682417 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785432; longitude = -135.564130; duration = 407; initialDepth = 387.660780; finalDepth = 387.682417; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.562501 # Actual altitude: 50.562501 # Commanded vehicle depth: 387.682417 # Seafloor depth: -438.244918 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 101.797743 meters # Minimum depth: 437.660780 meters looking forward 100.000000 meters along route # Maximum depth: 438.112520 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 387.660780 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.784750; longitude = -135.562288; duration = 407; initialDepth = 387.906223; finalDepth = 387.660780; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.562501 # Actual altitude: 50.562501 # Commanded vehicle depth: 387.66078 # Seafloor depth: -437.660780 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 101.799269 meters # Minimum depth: 437.906223 meters looking forward 100.000000 meters along route # Maximum depth: 438.614750 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 387.906223 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.784068; longitude = -135.560446; duration = 407; initialDepth = 387.448220; finalDepth = 387.906223; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.248396 # Actual altitude: 50.248396 # Commanded vehicle depth: 387.906223 # Seafloor depth: -438.154619 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 103.546528 meters # Minimum depth: 437.448220 meters looking forward 100.000000 meters along route # Maximum depth: 438.691501 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 387.448220 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.783386; longitude = -135.558604; duration = 414; initialDepth = 385.415685; finalDepth = 387.448220; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.121157 # Actual altitude: 51.121157 # Commanded vehicle depth: 387.44822 # Seafloor depth: -438.569377 # 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 50 # Segment length 105.525002 meters # Minimum depth: 435.415685 meters looking forward 100.000000 meters along route # Maximum depth: 437.406853 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 385.415685 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.782692; longitude = -135.556730; duration = 422; initialDepth = 383.931911; finalDepth = 385.415685; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.991168 # Actual altitude: 51.991168 # Commanded vehicle depth: 385.415685 # Seafloor depth: -437.406853 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 103.494875 meters # Minimum depth: 433.931911 meters looking forward 100.000000 meters along route # Maximum depth: 437.353032 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 383.931911 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.781985; longitude = -135.554821; duration = 413; initialDepth = 382.887879; finalDepth = 383.931911; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.991168 # Actual altitude: 51.991168 # Commanded vehicle depth: 383.931911 # Seafloor depth: -435.313763 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 49 # Segment length 149.283495 meters # Minimum depth: 432.887879 meters looking forward 100.000000 meters along route # Maximum depth: 435.712897 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 382.887879 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.781292; longitude = -135.552948; duration = 597; # abortOnTimeout = True; initialDepth = 382.721780; finalDepth = 382.887879; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.381852 # Actual altitude: 51.381852 # Commanded vehicle depth: 382.887879 # Seafloor depth: -433.789040 # 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 49 # Segment length 101.277163 meters # Minimum depth: 432.721780 meters looking forward 100.000000 meters along route # Maximum depth: 433.046973 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 382.721780 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.780427; longitude = -135.556048; duration = 405; initialDepth = 383.081311; finalDepth = 382.721780; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.901161 # Actual altitude: 50.901161 # Commanded vehicle depth: 382.72178 # Seafloor depth: -432.868494 # 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 49 # Segment length 102.323115 meters # Minimum depth: 433.081311 meters looking forward 100.000000 meters along route # Maximum depth: 434.328763 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 383.081311 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.779840; longitude = -135.558151; duration = 409; initialDepth = 384.396120; finalDepth = 383.081311; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.146714 # Actual altitude: 50.146714 # Commanded vehicle depth: 383.081311 # Seafloor depth: -433.081311 # 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 49 # Segment length 102.423438 meters # Minimum depth: 434.396120 meters looking forward 100.000000 meters along route # Maximum depth: 437.361842 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 384.396120 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.779247; longitude = -135.560276; duration = 409; initialDepth = 386.203469; finalDepth = 384.396120; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 384.39612 # Seafloor depth: -434.396120 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; 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 48 # Segment length 162.875849 meters # Minimum depth: 436.203469 meters looking forward 100.000000 meters along route # Maximum depth: 437.380836 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 386.203469 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.778653; longitude = -135.562403; duration = 651; # abortOnTimeout = True; initialDepth = 386.813713; finalDepth = 386.203469; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.177367 # Actual altitude: 51.177367 # Commanded vehicle depth: 386.203469 # Seafloor depth: -437.380836 # 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 48 # Segment length 106.544114 meters # Minimum depth: 436.813713 meters looking forward 100.000000 meters along route # Maximum depth: 437.386593 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 386.813713 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.780112; longitude = -135.562561; duration = 426; initialDepth = 387.573161; finalDepth = 386.813713; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.177367 # Actual altitude: 51.177367 # Commanded vehicle depth: 386.813713 # Seafloor depth: -436.813713 # 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 48 # Segment length 106.544119 meters # Minimum depth: 437.573161 meters looking forward 100.000000 meters along route # Maximum depth: 438.782074 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 387.573161 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.781067; longitude = -135.562665; duration = 426; initialDepth = 389.071204; finalDepth = 387.573161; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 387.573161 # Seafloor depth: -437.573161 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 106.544124 meters # Minimum depth: 439.071204 meters looking forward 100.000000 meters along route # Maximum depth: 440.130705 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 389.071204 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.782022; longitude = -135.562768; duration = 426; initialDepth = 389.563100; finalDepth = 389.071204; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 389.071204 # Seafloor depth: -439.071204 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 106.544129 meters # Minimum depth: 439.563100 meters looking forward 100.000000 meters along route # Maximum depth: 440.101349 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 389.563100 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.782977; longitude = -135.562872; duration = 426; initialDepth = 388.328800; finalDepth = 389.563100; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.538249 # Actual altitude: 50.538249 # Commanded vehicle depth: 389.5631 # Seafloor depth: -440.101349 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 106.544133 meters # Minimum depth: 438.328800 meters looking forward 100.000000 meters along route # Maximum depth: 439.310857 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 388.328800 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.783931; longitude = -135.562975; duration = 426; initialDepth = 387.027769; finalDepth = 388.328800; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.982057 # Actual altitude: 50.982057 # Commanded vehicle depth: 388.3288 # Seafloor depth: -439.310857 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 106.544139 meters # Minimum depth: 437.027769 meters looking forward 100.000000 meters along route # Maximum depth: 438.457968 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 387.027769 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.784886; longitude = -135.563079; duration = 426; initialDepth = 383.651186; finalDepth = 387.027769; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.309656 # Actual altitude: 51.309656 # Commanded vehicle depth: 387.027769 # Seafloor depth: -438.337425 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 106.544143 meters # Minimum depth: 433.651186 meters looking forward 100.000000 meters along route # Maximum depth: 436.326219 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 383.651186 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785841; longitude = -135.563182; duration = 426; initialDepth = 373.966880; finalDepth = 383.651186; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.675033 # Actual altitude: 52.675033 # Commanded vehicle depth: 383.651186 # Seafloor depth: -436.326219 # 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 48 # Segment length 106.544148 meters # Minimum depth: 423.966880 meters looking forward 100.000000 meters along route # Maximum depth: 433.284979 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 373.966880 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.786795; longitude = -135.563286; duration = 426; initialDepth = 369.332405; finalDepth = 373.966880; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.318099 # Actual altitude: 59.318099 # Commanded vehicle depth: 373.96688 # Seafloor depth: -433.284979 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 106.544153 meters # Minimum depth: 419.332405 meters looking forward 100.000000 meters along route # Maximum depth: 422.348493 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.332405 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.787750; longitude = -135.563389; duration = 426; initialDepth = 370.278959; finalDepth = 369.332405; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.318099 # Actual altitude: 59.318099 # Commanded vehicle depth: 369.332405 # Seafloor depth: -422.348493 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 106.544157 meters # Minimum depth: 420.278959 meters looking forward 100.000000 meters along route # Maximum depth: 420.931596 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 370.278959 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.788705; longitude = -135.563493; duration = 426; initialDepth = 369.032542; finalDepth = 370.278959; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.016088 # Actual altitude: 53.016088 # Commanded vehicle depth: 370.278959 # Seafloor depth: -420.813830 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 106.544163 meters # Minimum depth: 419.032542 meters looking forward 100.000000 meters along route # Maximum depth: 419.912688 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.032542 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.789660; longitude = -135.563596; duration = 426; initialDepth = 368.093948; finalDepth = 369.032542; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.880146 # Actual altitude: 50.880146 # Commanded vehicle depth: 369.032542 # Seafloor depth: -419.912688 # 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 48 # Segment length 106.544167 meters # Minimum depth: 418.093948 meters looking forward 100.000000 meters along route # Maximum depth: 419.031484 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 368.093948 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.790614; longitude = -135.563700; duration = 426; initialDepth = 367.826556; finalDepth = 368.093948; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.886586 # Actual altitude: 50.886586 # Commanded vehicle depth: 368.093948 # Seafloor depth: -418.980534 # 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 48 # Segment length 106.544172 meters # Minimum depth: 417.826556 meters looking forward 100.000000 meters along route # Maximum depth: 418.842585 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 367.826556 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.791569; longitude = -135.563803; duration = 426; initialDepth = 368.813318; finalDepth = 367.826556; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.886586 # Actual altitude: 50.886586 # Commanded vehicle depth: 367.826556 # Seafloor depth: -417.927998 # 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 48 # Segment length 106.544177 meters # Minimum depth: 418.813318 meters looking forward 100.000000 meters along route # Maximum depth: 419.011529 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 368.813318 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.792524; longitude = -135.563907; duration = 426; initialDepth = 368.925304; finalDepth = 368.813318; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.136531 # Actual altitude: 50.136531 # Commanded vehicle depth: 368.813318 # Seafloor depth: -418.949849 # 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 48 # Segment length 106.544181 meters # Minimum depth: 418.925304 meters looking forward 100.000000 meters along route # Maximum depth: 419.045455 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 368.925304 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.793478; longitude = -135.564010; duration = 426; initialDepth = 369.066572; finalDepth = 368.925304; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.136531 # Actual altitude: 50.136531 # Commanded vehicle depth: 368.925304 # Seafloor depth: -418.960833 # 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 48 # Segment length 106.544187 meters # Minimum depth: 419.066572 meters looking forward 100.000000 meters along route # Maximum depth: 419.426226 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.066572 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794433; longitude = -135.564114; duration = 426; initialDepth = 369.572462; finalDepth = 369.066572; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.081732 # Actual altitude: 50.081732 # Commanded vehicle depth: 369.066572 # Seafloor depth: -419.148304 # 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 48 # Segment length 106.544191 meters # Minimum depth: 419.572462 meters looking forward 100.000000 meters along route # Maximum depth: 420.531183 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.572462 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795388; longitude = -135.564217; duration = 426; initialDepth = 370.693934; finalDepth = 369.572462; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.081732 # Actual altitude: 50.081732 # Commanded vehicle depth: 369.572462 # Seafloor depth: -419.572462 # 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 48 # Segment length 106.544196 meters # Minimum depth: 420.693934 meters looking forward 100.000000 meters along route # Maximum depth: 429.523049 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 370.693934 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.796342; longitude = -135.564321; duration = 426; initialDepth = 381.468590; finalDepth = 370.693934; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 370.693934 # Seafloor depth: -420.693934 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 106.544201 meters # Minimum depth: 431.468590 meters looking forward 100.000000 meters along route # Maximum depth: 438.209154 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 381.468590 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.797297; longitude = -135.564424; duration = 426; initialDepth = 389.129450; finalDepth = 381.468590; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 381.46859 # Seafloor depth: -431.468590 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 106.544206 meters # Minimum depth: 439.129450 meters looking forward 100.000000 meters along route # Maximum depth: 443.939633 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 389.129450 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.798252; longitude = -135.564528; duration = 426; initialDepth = 394.642403; finalDepth = 389.129450; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 389.12945 # Seafloor depth: -439.129450 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 106.544210 meters # Minimum depth: 444.642403 meters looking forward 100.000000 meters along route # Maximum depth: 448.534883 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 394.642403 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.799207; longitude = -135.564631; duration = 426; initialDepth = 399.422686; finalDepth = 394.642403; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 394.642403 # Seafloor depth: -444.642403 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 106.544215 meters # Minimum depth: 449.422686 meters looking forward 100.000000 meters along route # Maximum depth: 453.500266 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 399.422686 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.800161; longitude = -135.564735; duration = 426; initialDepth = 404.027627; finalDepth = 399.422686; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 399.422686 # Seafloor depth: -449.422686 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 106.544220 meters # Minimum depth: 454.027627 meters looking forward 100.000000 meters along route # Maximum depth: 456.815719 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 404.027627 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.801116; longitude = -135.564838; duration = 426; initialDepth = 407.312726; finalDepth = 404.027627; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 404.027627 # Seafloor depth: -454.027627 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 111.168914 meters # Minimum depth: 457.312726 meters looking forward 100.000000 meters along route # Maximum depth: 460.117266 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 407.312726 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.802071; longitude = -135.564942; duration = 444; initialDepth = 410.249460; finalDepth = 407.312726; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 407.312726 # Seafloor depth: -457.312726 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 101.919541 meters # Minimum depth: 460.249460 meters looking forward 100.000000 meters along route # Maximum depth: 463.077179 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 410.249460 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.803067; longitude = -135.565050; duration = 407; initialDepth = 413.332828; finalDepth = 410.249460; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 410.24946 # Seafloor depth: -460.249460 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 113.591393 meters # Minimum depth: 463.332828 meters looking forward 100.000000 meters along route # Maximum depth: 465.896058 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 413.332828 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.803980; longitude = -135.565149; duration = 454; initialDepth = 415.353716; finalDepth = 413.332828; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 413.332828 # Seafloor depth: -463.332828 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; 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 47 # Segment length 129.093146 meters # Minimum depth: 465.353716 meters looking forward 100.000000 meters along route # Maximum depth: 466.085159 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 415.353716 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.804998; longitude = -135.565259; duration = 516; # abortOnTimeout = True; initialDepth = 414.049538; finalDepth = 415.353716; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.731443 # Actual altitude: 50.731443 # Commanded vehicle depth: 415.353716 # Seafloor depth: -466.085159 # 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 47 # Segment length 106.114926 meters # Minimum depth: 464.049538 meters looking forward 100.000000 meters along route # Maximum depth: 465.323925 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 414.049538 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.804239; longitude = -135.567914; duration = 424; initialDepth = 411.929049; finalDepth = 414.049538; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.274387 # Actual altitude: 51.274387 # Commanded vehicle depth: 414.049538 # Seafloor depth: -465.323925 # 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 47 # Segment length 100.089757 meters # Minimum depth: 461.929049 meters looking forward 100.000000 meters along route # Maximum depth: 463.878467 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 411.929049 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.803614; longitude = -135.570096; duration = 400; initialDepth = 411.491132; finalDepth = 411.929049; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.924848 # Actual altitude: 51.924848 # Commanded vehicle depth: 411.929049 # Seafloor depth: -463.853897 # 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 47 # Segment length 105.513293 meters # Minimum depth: 461.491132 meters looking forward 100.000000 meters along route # Maximum depth: 461.914327 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 411.491132 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.803025; longitude = -135.572154; duration = 422; initialDepth = 409.989072; finalDepth = 411.491132; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.924848 # Actual altitude: 51.924848 # Commanded vehicle depth: 411.491132 # Seafloor depth: -461.914327 # 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 47 # Segment length 103.144527 meters # Minimum depth: 459.989072 meters looking forward 100.000000 meters along route # Maximum depth: 461.255328 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 409.989072 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.802405; longitude = -135.574324; duration = 412; initialDepth = 409.855555; finalDepth = 409.989072; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.266256 # Actual altitude: 51.266256 # Commanded vehicle depth: 409.989072 # Seafloor depth: -461.255328 # 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 47 # Segment length 102.465622 meters # Minimum depth: 459.855555 meters looking forward 100.000000 meters along route # Maximum depth: 460.632317 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 409.855555 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.801798; longitude = -135.576445; duration = 409; initialDepth = 408.992994; finalDepth = 409.855555; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.266256 # Actual altitude: 51.266256 # Commanded vehicle depth: 409.855555 # Seafloor depth: -460.139266 # 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 47 # Segment length 106.199510 meters # Minimum depth: 458.992994 meters looking forward 100.000000 meters along route # Maximum depth: 460.407909 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 408.992994 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.801195; longitude = -135.578552; duration = 424; initialDepth = 408.822671; finalDepth = 408.992994; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.414915 # Actual altitude: 51.414915 # Commanded vehicle depth: 408.992994 # Seafloor depth: -460.407909 # 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 47 # Segment length 106.050672 meters # Minimum depth: 458.822671 meters looking forward 100.000000 meters along route # Maximum depth: 459.070585 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 408.822671 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.800570; longitude = -135.580736; duration = 424; initialDepth = 408.349145; finalDepth = 408.822671; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.414915 # Actual altitude: 51.414915 # Commanded vehicle depth: 408.822671 # Seafloor depth: -458.991874 # 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 47 # Segment length 102.621772 meters # Minimum depth: 458.349145 meters looking forward 100.000000 meters along route # Maximum depth: 459.394120 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 408.349145 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.799947; longitude = -135.582916; duration = 410; initialDepth = 409.408765; finalDepth = 408.349145; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.363967 # Actual altitude: 50.363967 # Commanded vehicle depth: 408.349145 # Seafloor depth: -458.713112 # 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 47 # Segment length 103.002806 meters # Minimum depth: 459.408765 meters looking forward 100.000000 meters along route # Maximum depth: 460.412475 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 409.408765 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.799343; longitude = -135.585026; duration = 412; initialDepth = 410.626013; finalDepth = 409.408765; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.363967 # Actual altitude: 50.363967 # Commanded vehicle depth: 409.408765 # Seafloor depth: -459.408765 # 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 47 # Segment length 106.131593 meters # Minimum depth: 460.626013 meters looking forward 100.000000 meters along route # Maximum depth: 461.534491 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 410.626013 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.798737; longitude = -135.587144; duration = 424; initialDepth = 411.265431; finalDepth = 410.626013; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 410.626013 # Seafloor depth: -460.626013 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 106.133484 meters # Minimum depth: 461.265431 meters looking forward 100.000000 meters along route # Maximum depth: 462.276276 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 411.265431 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.798113; longitude = -135.589326; duration = 424; initialDepth = 411.761454; finalDepth = 411.265431; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 411.265431 # Seafloor depth: -461.265431 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 102.098943 meters # Minimum depth: 461.761454 meters looking forward 100.000000 meters along route # Maximum depth: 463.440279 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 411.761454 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.797489; longitude = -135.591509; duration = 408; initialDepth = 413.512335; finalDepth = 411.761454; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.036066 # Actual altitude: 50.036066 # Commanded vehicle depth: 411.761454 # Seafloor depth: -461.797520 # 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 47 # Segment length 103.540065 meters # Minimum depth: 463.512335 meters looking forward 100.000000 meters along route # Maximum depth: 465.245646 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 413.512335 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.796888; longitude = -135.593608; duration = 414; initialDepth = 415.348229; finalDepth = 413.512335; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.036066 # Actual altitude: 50.036066 # Commanded vehicle depth: 413.512335 # Seafloor depth: -463.512335 # 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 47 # Segment length 106.139040 meters # Minimum depth: 465.348229 meters looking forward 100.000000 meters along route # Maximum depth: 466.348412 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 415.348229 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.796279; longitude = -135.595737; duration = 424; initialDepth = 416.370652; finalDepth = 415.348229; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 415.348229 # Seafloor depth: -465.348229 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 106.140932 meters # Minimum depth: 466.370652 meters looking forward 100.000000 meters along route # Maximum depth: 467.772219 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 416.370652 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795655; longitude = -135.597919; duration = 424; initialDepth = 417.757004; finalDepth = 416.370652; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 416.370652 # Seafloor depth: -466.370652 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 106.142824 meters # Minimum depth: 467.757004 meters looking forward 100.000000 meters along route # Maximum depth: 469.523457 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 417.757004 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795030; longitude = -135.600101; duration = 424; initialDepth = 419.372517; finalDepth = 417.757004; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 417.757004 # Seafloor depth: -467.757004 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 106.144715 meters # Minimum depth: 469.372517 meters looking forward 100.000000 meters along route # Maximum depth: 470.079684 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 419.372517 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794406; longitude = -135.602283; duration = 424; initialDepth = 420.193417; finalDepth = 419.372517; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.13878 # Actual altitude: 50.13878 # Commanded vehicle depth: 419.372517 # Seafloor depth: -469.511297 # 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 47 # Segment length 103.880380 meters # Minimum depth: 470.193417 meters looking forward 100.000000 meters along route # Maximum depth: 470.893890 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 420.193417 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.793782; longitude = -135.604465; duration = 415; initialDepth = 417.928616; finalDepth = 420.193417; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.13878 # Actual altitude: 50.13878 # Commanded vehicle depth: 420.193417 # Seafloor depth: -470.193417 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 46 # Segment length 150.016958 meters # Minimum depth: 467.928616 meters looking forward 100.000000 meters along route # Maximum depth: 470.940529 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 417.928616 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.793171; longitude = -135.606601; duration = 600; # abortOnTimeout = True; initialDepth = 415.997347; finalDepth = 417.928616; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.011913 # Actual altitude: 53.011913 # Commanded vehicle depth: 417.928616 # Seafloor depth: -470.940529 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 45 # Segment length 132.695145 meters # Minimum depth: 465.997347 meters looking forward 100.000000 meters along route # Maximum depth: 467.838936 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 415.997347 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.792156; longitude = -135.603920; duration = 530; # abortOnTimeout = True; initialDepth = 414.443328; finalDepth = 415.997347; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.011913 # Actual altitude: 53.011913 # Commanded vehicle depth: 415.997347 # Seafloor depth: -467.838936 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 106.148369 meters # Minimum depth: 464.443328 meters looking forward 100.000000 meters along route # Maximum depth: 465.992114 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 414.443328 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.792936; longitude = -135.601192; duration = 424; initialDepth = 413.371982; finalDepth = 414.443328; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.841589 # Actual altitude: 51.841589 # Commanded vehicle depth: 414.443328 # Seafloor depth: -465.992114 # 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 45 # Segment length 101.951089 meters # Minimum depth: 463.371982 meters looking forward 100.000000 meters along route # Maximum depth: 464.507982 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 413.371982 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.793561; longitude = -135.599010; duration = 407; initialDepth = 411.856538; finalDepth = 413.371982; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.548786 # Actual altitude: 51.548786 # Commanded vehicle depth: 413.371982 # Seafloor depth: -464.507982 # 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 45 # Segment length 103.705993 meters # Minimum depth: 461.856538 meters looking forward 100.000000 meters along route # Maximum depth: 463.324027 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 411.856538 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794160; longitude = -135.596914; duration = 414; initialDepth = 409.570856; finalDepth = 411.856538; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.467489 # Actual altitude: 51.467489 # Commanded vehicle depth: 411.856538 # Seafloor depth: -463.324027 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 106.142812 meters # Minimum depth: 459.570856 meters looking forward 100.000000 meters along route # Maximum depth: 461.631808 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 409.570856 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794770; longitude = -135.594782; duration = 424; initialDepth = 408.467116; finalDepth = 409.570856; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.060952 # Actual altitude: 52.060952 # Commanded vehicle depth: 409.570856 # Seafloor depth: -461.631808 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 106.140920 meters # Minimum depth: 458.467116 meters looking forward 100.000000 meters along route # Maximum depth: 459.566381 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 408.467116 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795395; longitude = -135.592600; duration = 424; initialDepth = 405.307510; finalDepth = 408.467116; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.060952 # Actual altitude: 52.060952 # Commanded vehicle depth: 408.467116 # Seafloor depth: -459.566381 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 101.403799 meters # Minimum depth: 455.307510 meters looking forward 100.000000 meters along route # Maximum depth: 458.297738 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 405.307510 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.796019; longitude = -135.590418; duration = 405; initialDepth = 404.273795; finalDepth = 405.307510; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.990228 # Actual altitude: 52.990228 # Commanded vehicle depth: 405.30751 # Seafloor depth: -458.297738 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 104.238852 meters # Minimum depth: 454.273795 meters looking forward 100.000000 meters along route # Maximum depth: 455.338794 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 404.273795 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.796615; longitude = -135.588333; duration = 416; initialDepth = 402.554637; finalDepth = 404.273795; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.990228 # Actual altitude: 52.990228 # Commanded vehicle depth: 404.273795 # Seafloor depth: -455.274581 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 106.135365 meters # Minimum depth: 452.554637 meters looking forward 100.000000 meters along route # Maximum depth: 454.184512 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 402.554637 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.797228; longitude = -135.586190; duration = 424; initialDepth = 401.830729; finalDepth = 402.554637; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.629875 # Actual altitude: 51.629875 # Commanded vehicle depth: 402.554637 # Seafloor depth: -454.184512 # 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 45 # Segment length 106.133473 meters # Minimum depth: 451.830729 meters looking forward 100.000000 meters along route # Maximum depth: 452.520601 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 401.830729 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.797853; longitude = -135.584007; duration = 424; initialDepth = 401.264296; finalDepth = 401.830729; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.629875 # Actual altitude: 51.629875 # Commanded vehicle depth: 401.830729 # Seafloor depth: -452.520601 # 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 45 # Segment length 100.856585 meters # Minimum depth: 451.264296 meters looking forward 100.000000 meters along route # Maximum depth: 452.289023 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 401.264296 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.798477; longitude = -135.581825; duration = 403; initialDepth = 401.784597; finalDepth = 401.264296; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.024727 # Actual altitude: 51.024727 # Commanded vehicle depth: 401.264296 # Seafloor depth: -452.289023 # 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 45 # Segment length 104.771636 meters # Minimum depth: 451.784597 meters looking forward 100.000000 meters along route # Maximum depth: 452.178461 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 401.784597 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.799070; longitude = -135.579751; duration = 419; initialDepth = 401.884630; finalDepth = 401.784597; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.024727 # Actual altitude: 51.024727 # Commanded vehicle depth: 401.784597 # Seafloor depth: -451.790615 # 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 45 # Segment length 106.127917 meters # Minimum depth: 451.884630 meters looking forward 100.000000 meters along route # Maximum depth: 453.331056 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 401.884630 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.799687; longitude = -135.577597; duration = 424; initialDepth = 403.369544; finalDepth = 401.884630; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.006018 # Actual altitude: 50.006018 # Commanded vehicle depth: 401.88463 # Seafloor depth: -451.884630 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 106.126025 meters # Minimum depth: 453.369544 meters looking forward 100.000000 meters along route # Maximum depth: 454.196350 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 403.369544 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.800311; longitude = -135.575415; duration = 424; initialDepth = 404.250811; finalDepth = 403.369544; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 403.369544 # Seafloor depth: -453.369544 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 100.309448 meters # Minimum depth: 454.250811 meters looking forward 100.000000 meters along route # Maximum depth: 456.635873 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 404.250811 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.800935; longitude = -135.573233; duration = 401; initialDepth = 406.649093; finalDepth = 404.250811; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 404.250811 # Seafloor depth: -454.250811 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 105.304345 meters # Minimum depth: 456.649093 meters looking forward 100.000000 meters along route # Maximum depth: 458.079116 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 406.649093 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.801525; longitude = -135.571170; duration = 421; initialDepth = 408.181306; finalDepth = 406.649093; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 406.649093 # Seafloor depth: -456.649093 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 106.120470 meters # Minimum depth: 458.181306 meters looking forward 100.000000 meters along route # Maximum depth: 460.189115 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 408.181306 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.802145; longitude = -135.569005; duration = 424; initialDepth = 410.219305; finalDepth = 408.181306; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 408.181306 # Seafloor depth: -458.181306 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 106.118579 meters # Minimum depth: 460.219305 meters looking forward 100.000000 meters along route # Maximum depth: 461.053558 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 410.219305 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.802769; longitude = -135.566823; duration = 424; initialDepth = 411.339514; finalDepth = 410.219305; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 410.219305 # Seafloor depth: -460.219305 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 100.247499 meters # Minimum depth: 461.339514 meters looking forward 100.000000 meters along route # Maximum depth: 462.489085 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 411.339514 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.803393; longitude = -135.564640; duration = 400; initialDepth = 408.795132; finalDepth = 411.339514; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 411.339514 # Seafloor depth: -461.339514 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; 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 44 # Segment length 150.042110 meters # Minimum depth: 458.795132 meters looking forward 100.000000 meters along route # Maximum depth: 462.640198 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 408.795132 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.803983; longitude = -135.562579; duration = 600; # abortOnTimeout = True; initialDepth = 406.634743; finalDepth = 408.795132; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.845066 # Actual altitude: 53.845066 # Commanded vehicle depth: 408.795132 # Seafloor depth: -462.640198 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 43 # Segment length 131.088481 meters # Minimum depth: 456.634743 meters looking forward 100.000000 meters along route # Maximum depth: 458.613373 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 406.634743 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.802967; longitude = -135.559899; duration = 524; # abortOnTimeout = True; initialDepth = 406.085969; finalDepth = 406.634743; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.845066 # Actual altitude: 53.845066 # Commanded vehicle depth: 406.634743 # Seafloor depth: -458.613373 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 106.119437 meters # Minimum depth: 456.085969 meters looking forward 100.000000 meters along route # Maximum depth: 456.615645 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 406.085969 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.802196; longitude = -135.562595; duration = 424; initialDepth = 403.333043; finalDepth = 406.085969; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.97863 # Actual altitude: 51.97863 # Commanded vehicle depth: 406.085969 # Seafloor depth: -456.615645 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 100.632206 meters # Minimum depth: 453.333043 meters looking forward 100.000000 meters along route # Maximum depth: 455.907475 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 403.333043 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.801572; longitude = -135.564777; duration = 402; initialDepth = 401.832202; finalDepth = 403.333043; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.574432 # Actual altitude: 52.574432 # Commanded vehicle depth: 403.333043 # Seafloor depth: -455.907475 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 104.979583 meters # Minimum depth: 451.832202 meters looking forward 100.000000 meters along route # Maximum depth: 453.306354 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 401.832202 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.800980; longitude = -135.566846; duration = 419; initialDepth = 398.311228; finalDepth = 401.832202; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.574432 # Actual altitude: 52.574432 # Commanded vehicle depth: 401.832202 # Seafloor depth: -453.306354 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 106.124992 meters # Minimum depth: 448.311228 meters looking forward 100.000000 meters along route # Maximum depth: 451.871132 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 398.311228 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.800362; longitude = -135.569005; duration = 424; initialDepth = 395.630345; finalDepth = 398.311228; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.559904 # Actual altitude: 53.559904 # Commanded vehicle depth: 398.311228 # Seafloor depth: -451.871132 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 106.126883 meters # Minimum depth: 445.630345 meters looking forward 100.000000 meters along route # Maximum depth: 448.247261 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 395.630345 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.799738; longitude = -135.571187; duration = 424; initialDepth = 393.945998; finalDepth = 395.630345; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.559904 # Actual altitude: 53.559904 # Commanded vehicle depth: 395.630345 # Seafloor depth: -448.247261 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 100.124369 meters # Minimum depth: 443.945998 meters looking forward 100.000000 meters along route # Maximum depth: 445.488460 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.945998 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.799114; longitude = -135.573369; duration = 400; initialDepth = 393.993656; finalDepth = 393.945998; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.616916 # Actual altitude: 52.616916 # Commanded vehicle depth: 393.945998 # Seafloor depth: -445.488460 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 105.501848 meters # Minimum depth: 443.993656 meters looking forward 100.000000 meters along route # Maximum depth: 444.452290 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.993656 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.798525; longitude = -135.575428; duration = 422; initialDepth = 394.008619; finalDepth = 393.993656; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.542462 # Actual altitude: 51.542462 # Commanded vehicle depth: 393.993656 # Seafloor depth: -444.024700 # 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 43 # Segment length 103.187034 meters # Minimum depth: 444.008619 meters looking forward 100.000000 meters along route # Maximum depth: 444.533371 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 394.008619 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.797904; longitude = -135.577597; duration = 412; initialDepth = 393.861814; finalDepth = 394.008619; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.513549 # Actual altitude: 50.513549 # Commanded vehicle depth: 394.008619 # Seafloor depth: -444.522168 # 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 102.446284 meters # Minimum depth: 443.861814 meters looking forward 100.000000 meters along route # Maximum depth: 445.715901 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.861814 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.797297; longitude = -135.579719; duration = 409; initialDepth = 396.022518; finalDepth = 393.861814; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.513549 # Actual altitude: 50.513549 # Commanded vehicle depth: 393.861814 # Seafloor depth: -443.950437 # 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 106.249912 meters # Minimum depth: 446.022518 meters looking forward 100.000000 meters along route # Maximum depth: 447.768941 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 396.022518 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.796695; longitude = -135.581825; duration = 424; initialDepth = 397.770286; finalDepth = 396.022518; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.088623 # Actual altitude: 50.088623 # Commanded vehicle depth: 396.022518 # Seafloor depth: -446.022518 # 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 43 # Segment length 106.024185 meters # Minimum depth: 447.770286 meters looking forward 100.000000 meters along route # Maximum depth: 449.264316 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 397.770286 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.796070; longitude = -135.584010; duration = 424; initialDepth = 399.349193; finalDepth = 397.770286; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 397.770286 # Seafloor depth: -447.770286 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 102.679323 meters # Minimum depth: 449.349193 meters looking forward 100.000000 meters along route # Maximum depth: 451.885756 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 399.349193 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795446; longitude = -135.586190; duration = 410; initialDepth = 401.910263; finalDepth = 399.349193; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 399.349193 # Seafloor depth: -449.349193 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 102.968424 meters # Minimum depth: 451.910263 meters looking forward 100.000000 meters along route # Maximum depth: 454.711491 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 401.910263 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794842; longitude = -135.588301; duration = 411; initialDepth = 404.961663; finalDepth = 401.910263; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 401.910263 # Seafloor depth: -451.910263 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 106.143551 meters # Minimum depth: 454.961663 meters looking forward 100.000000 meters along route # Maximum depth: 457.176767 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 404.961663 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794237; longitude = -135.590418; duration = 424; initialDepth = 407.190659; finalDepth = 404.961663; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 404.961663 # Seafloor depth: -454.961663 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 106.145443 meters # Minimum depth: 457.190659 meters looking forward 100.000000 meters along route # Maximum depth: 459.305037 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 407.190659 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.793612; longitude = -135.592600; duration = 424; initialDepth = 409.328730; finalDepth = 407.190659; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 407.190659 # Seafloor depth: -457.190659 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 106.147334 meters # Minimum depth: 459.328730 meters looking forward 100.000000 meters along route # Maximum depth: 461.030356 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 409.328730 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.792988; longitude = -135.594782; duration = 424; initialDepth = 411.035263; finalDepth = 409.328730; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 409.32873 # Seafloor depth: -459.328730 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 106.149226 meters # Minimum depth: 461.035263 meters looking forward 100.000000 meters along route # Maximum depth: 462.359459 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 411.035263 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.792364; longitude = -135.596964; duration = 424; initialDepth = 412.486335; finalDepth = 411.035263; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.052373 # Actual altitude: 50.052373 # Commanded vehicle depth: 411.035263 # Seafloor depth: -461.087636 # 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 43 # Segment length 101.796985 meters # Minimum depth: 462.486335 meters looking forward 100.000000 meters along route # Maximum depth: 463.790715 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 412.486335 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.791740; longitude = -135.599146; duration = 407; initialDepth = 410.629160; finalDepth = 412.486335; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.052373 # Actual altitude: 50.052373 # Commanded vehicle depth: 412.486335 # Seafloor depth: -462.486335 # 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; } # ####################################################### # # 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 149.999393 meters # Minimum depth: 460.629160 meters looking forward 100.000000 meters along route # Maximum depth: 463.820160 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 410.629160 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.791141; longitude = -135.601239; duration = 599; # abortOnTimeout = True; initialDepth = 408.432890; finalDepth = 410.629160; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.191 # Actual altitude: 53.191 # Commanded vehicle depth: 410.62916 # Seafloor depth: -463.820160 # 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; } # ####################################################### # # 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 130.660179 meters # Minimum depth: 458.432890 meters looking forward 100.000000 meters along route # Maximum depth: 460.562103 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 408.432890 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.790126; longitude = -135.598559; duration = 522; # abortOnTimeout = True; initialDepth = 406.270942; finalDepth = 408.432890; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.191 # Actual altitude: 53.191 # Commanded vehicle depth: 408.43289 # Seafloor depth: -460.562103 # 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 41 # Segment length 106.151774 meters # Minimum depth: 456.270942 meters looking forward 100.000000 meters along route # Maximum depth: 458.417222 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 406.270942 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.790894; longitude = -135.595873; duration = 424; initialDepth = 404.221251; finalDepth = 406.270942; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.14628 # Actual altitude: 52.14628 # Commanded vehicle depth: 406.270942 # Seafloor depth: -458.417222 # 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 41 # Segment length 101.327338 meters # Minimum depth: 454.221251 meters looking forward 100.000000 meters along route # Maximum depth: 456.137350 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 404.221251 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.791519; longitude = -135.593691; duration = 405; initialDepth = 401.957786; finalDepth = 404.221251; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.14628 # Actual altitude: 52.14628 # Commanded vehicle depth: 404.221251 # Seafloor depth: -456.137350 # 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 41 # Segment length 104.336342 meters # Minimum depth: 451.957786 meters looking forward 100.000000 meters along route # Maximum depth: 454.158581 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 401.957786 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.792115; longitude = -135.591608; duration = 417; initialDepth = 398.127154; finalDepth = 401.957786; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.200795 # Actual altitude: 52.200795 # Commanded vehicle depth: 401.957786 # Seafloor depth: -454.158581 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 106.146217 meters # Minimum depth: 448.127154 meters looking forward 100.000000 meters along route # Maximum depth: 451.823383 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 398.127154 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.792728; longitude = -135.589463; duration = 424; initialDepth = 395.753938; finalDepth = 398.127154; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.696229 # Actual altitude: 53.696229 # Commanded vehicle depth: 398.127154 # Seafloor depth: -451.823383 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 106.144326 meters # Minimum depth: 445.753938 meters looking forward 100.000000 meters along route # Maximum depth: 448.092933 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 395.753938 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.793352; longitude = -135.587281; duration = 424; initialDepth = 391.541803; finalDepth = 395.753938; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.696229 # Actual altitude: 53.696229 # Commanded vehicle depth: 395.753938 # Seafloor depth: -448.092933 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 100.805272 meters # Minimum depth: 441.541803 meters looking forward 100.000000 meters along route # Maximum depth: 445.610558 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 391.541803 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.793977; longitude = -135.585098; duration = 403; initialDepth = 389.144458; finalDepth = 391.541803; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.068755 # Actual altitude: 54.068755 # Commanded vehicle depth: 391.541803 # Seafloor depth: -445.610558 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 104.843977 meters # Minimum depth: 439.144458 meters looking forward 100.000000 meters along route # Maximum depth: 441.498618 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 389.144458 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794569; longitude = -135.583026; duration = 419; initialDepth = 387.371778; finalDepth = 389.144458; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.068755 # Actual altitude: 54.068755 # Commanded vehicle depth: 389.144458 # Seafloor depth: -441.498618 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 106.138770 meters # Minimum depth: 437.371778 meters looking forward 100.000000 meters along route # Maximum depth: 438.950045 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 387.371778 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795186; longitude = -135.580871; duration = 424; initialDepth = 385.720788; finalDepth = 387.371778; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.35416 # Actual altitude: 52.35416 # Commanded vehicle depth: 387.371778 # Seafloor depth: -438.950045 # 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 41 # Segment length 106.136878 meters # Minimum depth: 435.720788 meters looking forward 100.000000 meters along route # Maximum depth: 437.455965 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 385.720788 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795810; longitude = -135.578688; duration = 424; initialDepth = 385.145337; finalDepth = 385.720788; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.709894 # Actual altitude: 51.709894 # Commanded vehicle depth: 385.720788 # Seafloor depth: -437.430682 # 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 41 # Segment length 100.283279 meters # Minimum depth: 435.145337 meters looking forward 100.000000 meters along route # Maximum depth: 436.019756 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 385.145337 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.796435; longitude = -135.576506; duration = 401; initialDepth = 385.181252; finalDepth = 385.145337; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.709894 # Actual altitude: 51.709894 # Commanded vehicle depth: 385.145337 # Seafloor depth: -436.019756 # 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 41 # Segment length 105.351541 meters # Minimum depth: 435.181252 meters looking forward 100.000000 meters along route # Maximum depth: 436.734887 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 385.181252 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.797024; longitude = -135.574444; duration = 421; initialDepth = 386.962368; finalDepth = 385.181252; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.874419 # Actual altitude: 50.874419 # Commanded vehicle depth: 385.181252 # Seafloor depth: -435.181252 # 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 41 # Segment length 103.338942 meters # Minimum depth: 436.962368 meters looking forward 100.000000 meters along route # Maximum depth: 440.256675 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 386.962368 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.797644; longitude = -135.572278; duration = 413; initialDepth = 390.420260; finalDepth = 386.962368; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 386.962368 # Seafloor depth: -436.962368 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 102.288778 meters # Minimum depth: 440.420260 meters looking forward 100.000000 meters along route # Maximum depth: 443.351123 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 390.420260 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.798252; longitude = -135.570153; duration = 409; initialDepth = 393.697602; finalDepth = 390.420260; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 390.42026 # Seafloor depth: -440.420260 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 106.394392 meters # Minimum depth: 443.697602 meters looking forward 100.000000 meters along route # Maximum depth: 446.751096 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.697602 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.798854; longitude = -135.568050; duration = 425; initialDepth = 396.757001; finalDepth = 393.697602; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 393.697602 # Seafloor depth: -443.697602 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 105.859033 meters # Minimum depth: 446.757001 meters looking forward 100.000000 meters along route # Maximum depth: 448.739265 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 396.757001 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.799479; longitude = -135.565862; duration = 423; initialDepth = 399.067039; finalDepth = 396.757001; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 396.757001 # Seafloor depth: -446.757001 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 106.123876 meters # Minimum depth: 449.067039 meters looking forward 100.000000 meters along route # Maximum depth: 451.531894 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 399.067039 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.800102; longitude = -135.563686; duration = 424; initialDepth = 401.640785; finalDepth = 399.067039; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 399.067039 # Seafloor depth: -449.067039 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 106.121985 meters # Minimum depth: 451.640785 meters looking forward 100.000000 meters along route # Maximum depth: 452.968848 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 401.640785 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.800726; longitude = -135.561504; duration = 424; initialDepth = 403.090085; finalDepth = 401.640785; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 401.640785 # Seafloor depth: -451.640785 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 102.240621 meters # Minimum depth: 453.090085 meters looking forward 100.000000 meters along route # Maximum depth: 454.704916 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 403.090085 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.801351; longitude = -135.559321; duration = 408; initialDepth = 401.452846; finalDepth = 403.090085; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 403.090085 # Seafloor depth: -453.090085 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; 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 40 # Segment length 150.048636 meters # Minimum depth: 451.452846 meters looking forward 100.000000 meters along route # Maximum depth: 454.873695 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 401.452846 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.801952; longitude = -135.557219; duration = 600; # abortOnTimeout = True; initialDepth = 398.833642; finalDepth = 401.452846; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.420849 # Actual altitude: 53.420849 # Commanded vehicle depth: 401.452846 # Seafloor depth: -454.873695 # 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; } # ####################################################### # # 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 133.081213 meters # Minimum depth: 448.833642 meters looking forward 100.000000 meters along route # Maximum depth: 451.346878 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 398.833642 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.800936; longitude = -135.554539; duration = 532; # abortOnTimeout = True; initialDepth = 396.350286; finalDepth = 398.833642; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.420849 # Actual altitude: 53.420849 # Commanded vehicle depth: 398.833642 # Seafloor depth: -451.346878 # 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 39 # Segment length 106.121737 meters # Minimum depth: 446.350286 meters looking forward 100.000000 meters along route # Maximum depth: 448.808800 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 396.350286 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.800153; longitude = -135.557276; duration = 424; initialDepth = 392.733213; finalDepth = 396.350286; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.513236 # Actual altitude: 52.513236 # Commanded vehicle depth: 396.350286 # Seafloor depth: -448.808800 # 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 39 # Segment length 101.189248 meters # Minimum depth: 442.733213 meters looking forward 100.000000 meters along route # Maximum depth: 446.177655 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 392.733213 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.799529; longitude = -135.559458; duration = 404; initialDepth = 389.557534; finalDepth = 392.733213; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.444442 # Actual altitude: 53.444442 # Commanded vehicle depth: 392.733213 # Seafloor depth: -446.177655 # 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 39 # Segment length 104.427001 meters # Minimum depth: 439.557534 meters looking forward 100.000000 meters along route # Maximum depth: 442.683776 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 389.557534 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.798934; longitude = -135.561539; duration = 417; initialDepth = 385.658990; finalDepth = 389.557534; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.444442 # Actual altitude: 53.444442 # Commanded vehicle depth: 389.557534 # Seafloor depth: -442.683776 # 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 39 # Segment length 106.127293 meters # Minimum depth: 435.658990 meters looking forward 100.000000 meters along route # Maximum depth: 439.356770 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 385.658990 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.798320; longitude = -135.563686; duration = 424; initialDepth = 379.382312; finalDepth = 385.658990; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.69778 # Actual altitude: 53.69778 # Commanded vehicle depth: 385.65899 # Seafloor depth: -439.356770 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 106.129184 meters # Minimum depth: 429.382312 meters looking forward 100.000000 meters along route # Maximum depth: 435.602902 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 379.382312 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.797695; longitude = -135.565868; duration = 424; initialDepth = 374.053009; finalDepth = 379.382312; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.22059 # Actual altitude: 56.22059 # Commanded vehicle depth: 379.382312 # Seafloor depth: -435.602902 # 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 39 # Segment length 100.716734 meters # Minimum depth: 424.053009 meters looking forward 100.000000 meters along route # Maximum depth: 428.741308 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 374.053009 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.797071; longitude = -135.568050; duration = 402; initialDepth = 373.033363; finalDepth = 374.053009; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.22059 # Actual altitude: 56.22059 # Commanded vehicle depth: 374.053009 # Seafloor depth: -428.741308 # 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 39 # Segment length 104.913942 meters # Minimum depth: 423.033363 meters looking forward 100.000000 meters along route # Maximum depth: 424.523845 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 373.033363 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.796479; longitude = -135.570121; duration = 419; initialDepth = 374.170119; finalDepth = 373.033363; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.688299 # Actual altitude: 54.688299 # Commanded vehicle depth: 373.033363 # Seafloor depth: -423.932067 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 106.134739 meters # Minimum depth: 424.170119 meters looking forward 100.000000 meters along route # Maximum depth: 426.617880 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 374.170119 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795862; longitude = -135.572278; duration = 424; initialDepth = 376.776789; finalDepth = 374.170119; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.898704 # Actual altitude: 50.898704 # Commanded vehicle depth: 374.170119 # Seafloor depth: -424.309391 # 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 39 # Segment length 106.136631 meters # Minimum depth: 426.776789 meters looking forward 100.000000 meters along route # Maximum depth: 428.292345 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 376.776789 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795238; longitude = -135.574460; duration = 424; initialDepth = 378.451622; finalDepth = 376.776789; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.139272 # Actual altitude: 50.139272 # Commanded vehicle depth: 376.776789 # Seafloor depth: -426.776789 # 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 39 # Segment length 100.244155 meters # Minimum depth: 428.451622 meters looking forward 100.000000 meters along route # Maximum depth: 433.370683 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 378.451622 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794613; longitude = -135.576643; duration = 400; initialDepth = 383.403935; finalDepth = 378.451622; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 378.451622 # Seafloor depth: -428.451622 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 105.400949 meters # Minimum depth: 433.403935 meters looking forward 100.000000 meters along route # Maximum depth: 437.011500 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 383.403935 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794024; longitude = -135.578704; duration = 421; initialDepth = 387.355878; finalDepth = 383.403935; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 383.403935 # Seafloor depth: -433.403935 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 103.324755 meters # Minimum depth: 437.355878 meters looking forward 100.000000 meters along route # Maximum depth: 440.505275 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 387.355878 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.793404; longitude = -135.580871; duration = 413; initialDepth = 390.636665; finalDepth = 387.355878; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 387.355878 # Seafloor depth: -437.355878 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 102.327450 meters # Minimum depth: 440.636665 meters looking forward 100.000000 meters along route # Maximum depth: 444.263089 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 390.636665 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.792796; longitude = -135.582995; duration = 409; initialDepth = 394.500324; finalDepth = 390.636665; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 390.636665 # Seafloor depth: -440.636665 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 106.405569 meters # Minimum depth: 444.500324 meters looking forward 100.000000 meters along route # Maximum depth: 447.822716 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 394.500324 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.792195; longitude = -135.585098; duration = 425; initialDepth = 397.828979; finalDepth = 394.500324; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 394.500324 # Seafloor depth: -444.500324 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 105.888025 meters # Minimum depth: 447.828979 meters looking forward 100.000000 meters along route # Maximum depth: 450.101058 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 397.828979 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.791569; longitude = -135.587286; duration = 423; initialDepth = 400.363753; finalDepth = 397.828979; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 397.828979 # Seafloor depth: -447.828979 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 102.852308 meters # Minimum depth: 450.363753 meters looking forward 100.000000 meters along route # Maximum depth: 453.357503 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 400.363753 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.790946; longitude = -135.589463; duration = 411; initialDepth = 403.432108; finalDepth = 400.363753; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 400.363753 # Seafloor depth: -450.363753 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 102.814327 meters # Minimum depth: 453.432108 meters looking forward 100.000000 meters along route # Maximum depth: 455.769128 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 403.432108 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.790341; longitude = -135.591577; duration = 411; initialDepth = 405.928874; finalDepth = 403.432108; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 403.432108 # Seafloor depth: -453.432108 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 106.443156 meters # Minimum depth: 455.928874 meters looking forward 100.000000 meters along route # Maximum depth: 457.719978 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 405.928874 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.789737; longitude = -135.593691; duration = 425; initialDepth = 405.282931; finalDepth = 405.928874; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 405.928874 # Seafloor depth: -455.928874 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; 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 38 # Segment length 149.921772 meters # Minimum depth: 455.282931 meters looking forward 100.000000 meters along route # Maximum depth: 457.753044 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 405.282931 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.789111; longitude = -135.595879; duration = 599; # abortOnTimeout = True; initialDepth = 402.602081; finalDepth = 405.282931; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.470113 # Actual altitude: 52.470113 # Commanded vehicle depth: 405.282931 # Seafloor depth: -457.753044 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 128.667710 meters # Minimum depth: 452.602081 meters looking forward 100.000000 meters along route # Maximum depth: 455.329765 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 402.602081 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.788097; longitude = -135.593199; duration = 514; # abortOnTimeout = True; initialDepth = 399.751605; finalDepth = 402.602081; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.727684 # Actual altitude: 52.727684 # Commanded vehicle depth: 402.602081 # Seafloor depth: -455.329765 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 106.150211 meters # Minimum depth: 449.751605 meters looking forward 100.000000 meters along route # Maximum depth: 452.558123 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 399.751605 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.788854; longitude = -135.590554; duration = 424; initialDepth = 396.596731; finalDepth = 399.751605; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.806518 # Actual altitude: 52.806518 # Commanded vehicle depth: 399.751605 # Seafloor depth: -452.558123 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 100.516288 meters # Minimum depth: 446.596731 meters looking forward 100.000000 meters along route # Maximum depth: 449.584512 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 396.596731 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.789478; longitude = -135.588372; duration = 402; initialDepth = 393.302179; finalDepth = 396.596731; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.987781 # Actual altitude: 52.987781 # Commanded vehicle depth: 396.596731 # Seafloor depth: -449.584512 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 105.144364 meters # Minimum depth: 443.302179 meters looking forward 100.000000 meters along route # Maximum depth: 446.557273 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.302179 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.790069; longitude = -135.586305; duration = 420; initialDepth = 388.839437; finalDepth = 393.302179; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.255094 # Actual altitude: 53.255094 # Commanded vehicle depth: 393.302179 # Seafloor depth: -446.557273 # 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 37 # Segment length 106.144655 meters # Minimum depth: 438.839437 meters looking forward 100.000000 meters along route # Maximum depth: 443.077667 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 388.839437 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.790687; longitude = -135.584144; duration = 424; initialDepth = 384.715003; finalDepth = 388.839437; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.23823 # Actual altitude: 54.23823 # Commanded vehicle depth: 388.839437 # Seafloor depth: -443.077667 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 106.142764 meters # Minimum depth: 434.715003 meters looking forward 100.000000 meters along route # Maximum depth: 438.728206 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 384.715003 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.791311; longitude = -135.581962; duration = 424; initialDepth = 381.523901; finalDepth = 384.715003; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.23823 # Actual altitude: 54.23823 # Commanded vehicle depth: 384.715003 # Seafloor depth: -438.728206 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 100.064891 meters # Minimum depth: 431.523901 meters looking forward 100.000000 meters along route # Maximum depth: 434.436533 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 381.523901 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.791935; longitude = -135.579779; duration = 400; initialDepth = 371.418689; finalDepth = 381.523901; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.013203 # Actual altitude: 54.013203 # Commanded vehicle depth: 381.523901 # Seafloor depth: -434.436533 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 105.581332 meters # Minimum depth: 421.418689 meters looking forward 100.000000 meters along route # Maximum depth: 431.440927 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 371.418689 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.792524; longitude = -135.577722; duration = 422; initialDepth = 369.945721; finalDepth = 371.418689; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.022238 # Actual altitude: 60.022238 # Commanded vehicle depth: 371.418689 # Seafloor depth: -431.440927 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 103.156032 meters # Minimum depth: 419.945721 meters looking forward 100.000000 meters along route # Maximum depth: 421.241525 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.945721 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.793145; longitude = -135.575551; duration = 412; initialDepth = 369.726383; finalDepth = 369.945721; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.022238 # Actual altitude: 60.022238 # Commanded vehicle depth: 369.945721 # Seafloor depth: -421.241525 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 102.483091 meters # Minimum depth: 419.726383 meters looking forward 100.000000 meters along route # Maximum depth: 420.361330 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.726383 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.793751; longitude = -135.573431; duration = 409; initialDepth = 370.024873; finalDepth = 369.726383; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.295804 # Actual altitude: 51.295804 # Commanded vehicle depth: 369.726383 # Seafloor depth: -420.309263 # 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 37 # Segment length 106.246958 meters # Minimum depth: 420.024873 meters looking forward 100.000000 meters along route # Maximum depth: 420.501642 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 370.024873 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794354; longitude = -135.571323; duration = 424; initialDepth = 370.349341; finalDepth = 370.024873; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.58288 # Actual altitude: 50.58288 # Commanded vehicle depth: 370.024873 # Seafloor depth: -420.083959 # 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 37 # Segment length 106.018238 meters # Minimum depth: 420.349341 meters looking forward 100.000000 meters along route # Maximum depth: 421.221748 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 370.349341 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794979; longitude = -135.569139; duration = 424; initialDepth = 370.531633; finalDepth = 370.349341; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.098136 # Actual altitude: 50.098136 # Commanded vehicle depth: 370.349341 # Seafloor depth: -420.447477 # 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 37 # Segment length 102.704497 meters # Minimum depth: 420.531633 meters looking forward 100.000000 meters along route # Maximum depth: 421.483395 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 370.531633 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795602; longitude = -135.566959; duration = 410; initialDepth = 370.522370; finalDepth = 370.531633; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.725621 # Actual altitude: 50.725621 # Commanded vehicle depth: 370.531633 # Seafloor depth: -421.257254 # 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 37 # Segment length 102.920198 meters # Minimum depth: 420.522370 meters looking forward 100.000000 meters along route # Maximum depth: 423.928641 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 370.522370 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.796206; longitude = -135.564847; duration = 411; initialDepth = 374.905456; finalDepth = 370.522370; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.725621 # Actual altitude: 50.725621 # Commanded vehicle depth: 370.52237 # Seafloor depth: -420.522370 # 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 37 # Segment length 106.126098 meters # Minimum depth: 424.905456 meters looking forward 100.000000 meters along route # Maximum depth: 433.747105 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 374.905456 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.796811; longitude = -135.562731; duration = 424; initialDepth = 383.764984; finalDepth = 374.905456; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 374.905456 # Seafloor depth: -424.905456 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 106.124206 meters # Minimum depth: 433.764984 meters looking forward 100.000000 meters along route # Maximum depth: 438.746064 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 383.764984 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.797436; longitude = -135.560549; duration = 424; initialDepth = 389.027438; finalDepth = 383.764984; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 383.764984 # Seafloor depth: -433.764984 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 106.122316 meters # Minimum depth: 439.027438 meters looking forward 100.000000 meters along route # Maximum depth: 442.221372 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 389.027438 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.798060; longitude = -135.558367; duration = 424; initialDepth = 392.374491; finalDepth = 389.027438; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 389.027438 # Seafloor depth: -439.027438 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 106.120424 meters # Minimum depth: 442.374491 meters looking forward 100.000000 meters along route # Maximum depth: 444.334412 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 392.374491 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.798684; longitude = -135.556185; duration = 424; initialDepth = 394.550473; finalDepth = 392.374491; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 392.374491 # Seafloor depth: -442.374491 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 104.228993 meters # Minimum depth: 444.550473 meters looking forward 100.000000 meters along route # Maximum depth: 447.112123 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 394.550473 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.799308; longitude = -135.554002; duration = 416; initialDepth = 394.354761; finalDepth = 394.550473; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 394.550473 # Seafloor depth: -444.550473 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; 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 150.031100 meters # Minimum depth: 444.354761 meters looking forward 100.000000 meters along route # Maximum depth: 447.250168 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 394.354761 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.799921; longitude = -135.551859; duration = 600; # abortOnTimeout = True; initialDepth = 390.468066; finalDepth = 394.354761; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.895407 # Actual altitude: 52.895407 # Commanded vehicle depth: 394.354761 # Seafloor depth: -447.250168 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 35 # Segment length 135.021893 meters # Minimum depth: 440.468066 meters looking forward 100.000000 meters along route # Maximum depth: 444.278450 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 390.468066 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.798905; longitude = -135.549180; duration = 540; # abortOnTimeout = True; initialDepth = 387.363873; finalDepth = 390.468066; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.810384 # Actual altitude: 53.810384 # Commanded vehicle depth: 390.468066 # Seafloor depth: -444.278450 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 106.121282 meters # Minimum depth: 437.363873 meters looking forward 100.000000 meters along route # Maximum depth: 440.446842 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 387.363873 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.798111; longitude = -135.551957; duration = 424; initialDepth = 382.582724; finalDepth = 387.363873; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.810384 # Actual altitude: 53.810384 # Commanded vehicle depth: 387.363873 # Seafloor depth: -440.446842 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 101.813442 meters # Minimum depth: 432.582724 meters looking forward 100.000000 meters along route # Maximum depth: 437.155485 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 382.582724 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.797487; longitude = -135.554139; duration = 407; initialDepth = 377.761046; finalDepth = 382.582724; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.572761 # Actual altitude: 54.572761 # Commanded vehicle depth: 382.582724 # Seafloor depth: -437.155485 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 103.801923 meters # Minimum depth: 427.761046 meters looking forward 100.000000 meters along route # Maximum depth: 432.502246 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 377.761046 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.796888; longitude = -135.556232; duration = 415; initialDepth = 369.509827; finalDepth = 377.761046; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7412 # Actual altitude: 54.7412 # Commanded vehicle depth: 377.761046 # Seafloor depth: -432.502246 # 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 35 # Segment length 106.126837 meters # Minimum depth: 419.509827 meters looking forward 100.000000 meters along route # Maximum depth: 427.410800 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.509827 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.796278; longitude = -135.558367; duration = 424; initialDepth = 369.523170; finalDepth = 369.509827; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.900973 # Actual altitude: 57.900973 # Commanded vehicle depth: 369.509827 # Seafloor depth: -427.410800 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 106.128727 meters # Minimum depth: 419.523170 meters looking forward 100.000000 meters along route # Maximum depth: 419.851014 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.523170 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795653; longitude = -135.560549; duration = 424; initialDepth = 368.898287; finalDepth = 369.523170; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.900973 # Actual altitude: 57.900973 # Commanded vehicle depth: 369.52317 # Seafloor depth: -419.782684 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 101.401486 meters # Minimum depth: 418.898287 meters looking forward 100.000000 meters along route # Maximum depth: 419.468732 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 368.898287 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795029; longitude = -135.562731; duration = 405; initialDepth = 368.802677; finalDepth = 368.898287; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.570445 # Actual altitude: 50.570445 # Commanded vehicle depth: 368.898287 # Seafloor depth: -419.468732 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 104.228306 meters # Minimum depth: 418.802677 meters looking forward 100.000000 meters along route # Maximum depth: 419.256739 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 368.802677 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794433; longitude = -135.564816; duration = 416; initialDepth = 368.830810; finalDepth = 368.802677; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.570445 # Actual altitude: 50.570445 # Commanded vehicle depth: 368.802677 # Seafloor depth: -418.895069 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 106.134282 meters # Minimum depth: 418.830810 meters looking forward 100.000000 meters along route # Maximum depth: 419.585589 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 368.830810 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.793820; longitude = -135.566959; duration = 424; initialDepth = 369.608802; finalDepth = 368.830810; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.309175 # Actual altitude: 50.309175 # Commanded vehicle depth: 368.83081 # Seafloor depth: -419.139985 # 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 35 # Segment length 106.136174 meters # Minimum depth: 419.608802 meters looking forward 100.000000 meters along route # Maximum depth: 420.302756 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.608802 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.793196; longitude = -135.569141; duration = 424; initialDepth = 369.688755; finalDepth = 369.608802; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.309175 # Actual altitude: 50.309175 # Commanded vehicle depth: 369.608802 # Seafloor depth: -419.608802 # 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 35 # Segment length 100.989472 meters # Minimum depth: 419.688755 meters looking forward 100.000000 meters along route # Maximum depth: 420.195490 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.688755 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.792572; longitude = -135.571323; duration = 403; initialDepth = 369.873515; finalDepth = 369.688755; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.349079 # Actual altitude: 50.349079 # Commanded vehicle depth: 369.688755 # Seafloor depth: -420.037834 # 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 35 # Segment length 104.654747 meters # Minimum depth: 419.873515 meters looking forward 100.000000 meters along route # Maximum depth: 420.910702 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.873515 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.791978; longitude = -135.573400; duration = 418; initialDepth = 369.686826; finalDepth = 369.873515; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.367143 # Actual altitude: 50.367143 # Commanded vehicle depth: 369.873515 # Seafloor depth: -420.240658 # 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 106.141730 meters # Minimum depth: 419.686826 meters looking forward 100.000000 meters along route # Maximum depth: 425.325422 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.686826 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.791363; longitude = -135.575551; duration = 424; initialDepth = 375.544306; finalDepth = 369.686826; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.38267 # Actual altitude: 50.38267 # Commanded vehicle depth: 369.686826 # Seafloor depth: -420.069496 # 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 35 # Segment length 106.143620 meters # Minimum depth: 425.544306 meters looking forward 100.000000 meters along route # Maximum depth: 435.937649 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 375.544306 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.790739; longitude = -135.577734; duration = 424; initialDepth = 386.142834; finalDepth = 375.544306; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.38267 # Actual altitude: 50.38267 # Commanded vehicle depth: 375.544306 # Seafloor depth: -425.544306 # 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 35 # Segment length 100.577400 meters # Minimum depth: 436.142834 meters looking forward 100.000000 meters along route # Maximum depth: 440.369633 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 386.142834 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.790115; longitude = -135.579916; duration = 402; initialDepth = 390.412090; finalDepth = 386.142834; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 386.142834 # Seafloor depth: -436.142834 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 105.081248 meters # Minimum depth: 440.412090 meters looking forward 100.000000 meters along route # Maximum depth: 443.274568 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 390.412090 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.789523; longitude = -135.581984; duration = 420; initialDepth = 393.529630; finalDepth = 390.412090; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 390.41209 # Seafloor depth: -440.412090 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 103.688474 meters # Minimum depth: 443.529630 meters looking forward 100.000000 meters along route # Maximum depth: 447.424394 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.529630 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.788905; longitude = -135.584144; duration = 414; initialDepth = 397.538307; finalDepth = 393.529630; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 393.52963 # Seafloor depth: -443.529630 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 101.977274 meters # Minimum depth: 447.538307 meters looking forward 100.000000 meters along route # Maximum depth: 449.607788 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 397.538307 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.788296; longitude = -135.586275; duration = 407; initialDepth = 400.035236; finalDepth = 397.538307; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 397.538307 # Seafloor depth: -447.538307 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 104.452145 meters # Minimum depth: 450.035236 meters looking forward 100.000000 meters along route # Maximum depth: 452.230096 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 400.035236 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.787696; longitude = -135.588372; duration = 417; initialDepth = 400.937866; finalDepth = 400.035236; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 400.035236 # Seafloor depth: -450.035236 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; 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 34 # Segment length 150.072538 meters # Minimum depth: 450.937866 meters looking forward 100.000000 meters along route # Maximum depth: 452.255783 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 400.937866 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.787082; longitude = -135.590519; duration = 600; # abortOnTimeout = True; initialDepth = 396.615637; finalDepth = 400.937866; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.317917 # Actual altitude: 51.317917 # Commanded vehicle depth: 400.937866 # Seafloor depth: -452.255783 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 139.999183 meters # Minimum depth: 446.615637 meters looking forward 100.000000 meters along route # Maximum depth: 450.839485 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 396.615637 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.786066; longitude = -135.587840; duration = 559; # abortOnTimeout = True; initialDepth = 393.768146; finalDepth = 396.615637; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.223848 # Actual altitude: 54.223848 # Commanded vehicle depth: 396.615637 # Seafloor depth: -450.839485 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.059049 meters # Minimum depth: 443.768146 meters looking forward 100.000000 meters along route # Maximum depth: 446.478629 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.768146 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.786889; longitude = -135.584962; duration = 400; initialDepth = 390.700917; finalDepth = 393.768146; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.223848 # Actual altitude: 54.223848 # Commanded vehicle depth: 393.768146 # Seafloor depth: -446.478629 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 105.611413 meters # Minimum depth: 440.700917 meters looking forward 100.000000 meters along route # Maximum depth: 443.754983 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 390.700917 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.787477; longitude = -135.582905; duration = 422; initialDepth = 386.148207; finalDepth = 390.700917; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.054066 # Actual altitude: 53.054066 # Commanded vehicle depth: 390.700917 # Seafloor depth: -443.754983 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 103.163162 meters # Minimum depth: 436.148207 meters looking forward 100.000000 meters along route # Maximum depth: 440.433147 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 386.148207 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.788098; longitude = -135.580734; duration = 412; initialDepth = 380.818256; finalDepth = 386.148207; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.28494 # Actual altitude: 54.28494 # Commanded vehicle depth: 386.148207 # Seafloor depth: -440.433147 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 102.500199 meters # Minimum depth: 430.818256 meters looking forward 100.000000 meters along route # Maximum depth: 436.045239 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 380.818256 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.788705; longitude = -135.578613; duration = 410; initialDepth = 370.519722; finalDepth = 380.818256; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.226983 # Actual altitude: 55.226983 # Commanded vehicle depth: 380.818256 # Seafloor depth: -436.045239 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 106.267060 meters # Minimum depth: 420.519722 meters looking forward 100.000000 meters along route # Maximum depth: 430.451378 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 370.519722 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.789307; longitude = -135.576506; duration = 425; initialDepth = 369.442440; finalDepth = 370.519722; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.931656 # Actual altitude: 59.931656 # Commanded vehicle depth: 370.519722 # Seafloor depth: -430.451378 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 106.023157 meters # Minimum depth: 419.442440 meters looking forward 100.000000 meters along route # Maximum depth: 420.542072 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.442440 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.789932; longitude = -135.574321; duration = 424; initialDepth = 369.338030; finalDepth = 369.442440; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.931656 # Actual altitude: 59.931656 # Commanded vehicle depth: 369.44244 # Seafloor depth: -420.498959 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 102.736785 meters # Minimum depth: 419.338030 meters looking forward 100.000000 meters along route # Maximum depth: 420.165413 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.338030 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.790556; longitude = -135.572142; duration = 410; initialDepth = 369.639210; finalDepth = 369.338030; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.056519 # Actual altitude: 51.056519 # Commanded vehicle depth: 369.33803 # Seafloor depth: -419.915190 # 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 33 # Segment length 102.912148 meters # Minimum depth: 419.639210 meters looking forward 100.000000 meters along route # Maximum depth: 420.403267 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.639210 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.791160; longitude = -135.570030; duration = 411; initialDepth = 368.500638; finalDepth = 369.639210; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.57716 # Actual altitude: 50.57716 # Commanded vehicle depth: 369.63921 # Seafloor depth: -419.863873 # 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 33 # Segment length 106.138607 meters # Minimum depth: 418.500638 meters looking forward 100.000000 meters along route # Maximum depth: 419.670829 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 368.500638 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.791765; longitude = -135.567914; duration = 424; initialDepth = 368.796067; finalDepth = 368.500638; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.170191 # Actual altitude: 51.170191 # Commanded vehicle depth: 368.500638 # Seafloor depth: -419.670829 # 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 33 # Segment length 106.136716 meters # Minimum depth: 418.796067 meters looking forward 100.000000 meters along route # Maximum depth: 419.047363 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 368.796067 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.792389; longitude = -135.565732; duration = 424; initialDepth = 368.800423; finalDepth = 368.796067; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.170191 # Actual altitude: 51.170191 # Commanded vehicle depth: 368.796067 # Seafloor depth: -418.861209 # 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 33 # Segment length 102.310468 meters # Minimum depth: 418.800423 meters looking forward 100.000000 meters along route # Maximum depth: 419.066195 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 368.800423 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.793013; longitude = -135.563549; duration = 409; initialDepth = 368.792112; finalDepth = 368.800423; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2298 # Actual altitude: 50.2298 # Commanded vehicle depth: 368.800423 # Seafloor depth: -419.030223 # 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 33 # Segment length 103.324037 meters # Minimum depth: 418.792112 meters looking forward 100.000000 meters along route # Maximum depth: 419.344004 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 368.792112 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.793615; longitude = -135.561446; duration = 413; initialDepth = 369.381313; finalDepth = 368.792112; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2298 # Actual altitude: 50.2298 # Commanded vehicle depth: 368.792112 # Seafloor depth: -418.820731 # 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 33 # Segment length 106.131161 meters # Minimum depth: 419.381313 meters looking forward 100.000000 meters along route # Maximum depth: 419.641940 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.381313 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794222; longitude = -135.559321; duration = 424; initialDepth = 369.452022; finalDepth = 369.381313; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.028619 # Actual altitude: 50.028619 # Commanded vehicle depth: 369.381313 # Seafloor depth: -419.393838 # 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 33 # Segment length 106.129270 meters # Minimum depth: 419.452022 meters looking forward 100.000000 meters along route # Maximum depth: 420.809874 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.452022 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794846; longitude = -135.557139; duration = 424; initialDepth = 371.080964; finalDepth = 369.452022; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.012525 # Actual altitude: 50.012525 # Commanded vehicle depth: 369.452022 # Seafloor depth: -419.452022 # 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 33 # Segment length 101.884211 meters # Minimum depth: 421.080964 meters looking forward 100.000000 meters along route # Maximum depth: 430.204702 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 371.080964 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795471; longitude = -135.554957; duration = 407; initialDepth = 380.352954; finalDepth = 371.080964; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 371.080964 # Seafloor depth: -421.080964 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 103.735868 meters # Minimum depth: 430.352954 meters looking forward 100.000000 meters along route # Maximum depth: 435.271595 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 380.352954 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.796070; longitude = -135.552862; duration = 414; initialDepth = 385.575609; finalDepth = 380.352954; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 380.352954 # Seafloor depth: -430.352954 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 104.987499 meters # Minimum depth: 435.575609 meters looking forward 100.000000 meters along route # Maximum depth: 439.327370 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 385.575609 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.796680; longitude = -135.550729; duration = 419; initialDepth = 389.518386; finalDepth = 385.575609; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 385.575609 # Seafloor depth: -435.575609 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 100.628555 meters # Minimum depth: 439.518386 meters looking forward 100.000000 meters along route # Maximum depth: 442.603943 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 389.518386 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.797297; longitude = -135.548570; duration = 402; initialDepth = 391.452732; finalDepth = 389.518386; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 389.518386 # Seafloor depth: -439.518386 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; 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 149.929342 meters # Minimum depth: 441.452732 meters looking forward 100.000000 meters along route # Maximum depth: 442.753242 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 391.452732 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.797889; longitude = -135.546501; duration = 599; # abortOnTimeout = True; initialDepth = 387.557470; finalDepth = 391.452732; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.30051 # Actual altitude: 51.30051 # Commanded vehicle depth: 391.452732 # Seafloor depth: -442.753242 # 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; } # ####################################################### # # 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 136.875256 meters # Minimum depth: 437.557470 meters looking forward 100.000000 meters along route # Maximum depth: 441.300072 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 387.557470 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.796874; longitude = -135.543823; duration = 547; # abortOnTimeout = True; initialDepth = 383.855408; finalDepth = 387.557470; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.742602 # Actual altitude: 53.742602 # Commanded vehicle depth: 387.55747 # Seafloor depth: -441.300072 # 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 31 # Segment length 106.128549 meters # Minimum depth: 433.855408 meters looking forward 100.000000 meters along route # Maximum depth: 437.555409 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 383.855408 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.796069; longitude = -135.546637; duration = 424; initialDepth = 371.969246; finalDepth = 383.855408; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.742602 # Actual altitude: 53.742602 # Commanded vehicle depth: 383.855408 # Seafloor depth: -437.555409 # 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 31 # Segment length 102.484648 meters # Minimum depth: 421.969246 meters looking forward 100.000000 meters along route # Maximum depth: 433.471572 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 371.969246 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795445; longitude = -135.548820; duration = 409; initialDepth = 370.459917; finalDepth = 371.969246; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.502326 # Actual altitude: 61.502326 # Commanded vehicle depth: 371.969246 # Seafloor depth: -433.471572 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 103.144797 meters # Minimum depth: 420.459917 meters looking forward 100.000000 meters along route # Maximum depth: 421.740972 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 370.459917 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794842; longitude = -135.550927; duration = 412; initialDepth = 369.374971; finalDepth = 370.459917; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.502326 # Actual altitude: 61.502326 # Commanded vehicle depth: 370.459917 # Seafloor depth: -421.740972 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 106.134103 meters # Minimum depth: 419.374971 meters looking forward 100.000000 meters along route # Maximum depth: 420.378606 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.374971 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794236; longitude = -135.553048; duration = 424; initialDepth = 369.254658; finalDepth = 369.374971; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.281055 # Actual altitude: 51.281055 # Commanded vehicle depth: 369.374971 # Seafloor depth: -420.378606 # 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 31 # Segment length 106.135995 meters # Minimum depth: 419.254658 meters looking forward 100.000000 meters along route # Maximum depth: 419.776703 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.254658 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.793612; longitude = -135.555230; duration = 424; initialDepth = 368.889370; finalDepth = 369.254658; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.003635 # Actual altitude: 51.003635 # Commanded vehicle depth: 369.254658 # Seafloor depth: -419.431072 # 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 31 # Segment length 102.062610 meters # Minimum depth: 418.889370 meters looking forward 100.000000 meters along route # Maximum depth: 419.199860 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 368.889370 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.792987; longitude = -135.557412; duration = 408; initialDepth = 368.910942; finalDepth = 368.889370; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.31049 # Actual altitude: 50.31049 # Commanded vehicle depth: 368.88937 # Seafloor depth: -419.199860 # 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 31 # Segment length 103.581261 meters # Minimum depth: 418.910942 meters looking forward 100.000000 meters along route # Maximum depth: 419.203373 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 368.910942 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.792387; longitude = -135.559510; duration = 414; initialDepth = 368.747232; finalDepth = 368.910942; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.31049 # Actual altitude: 50.31049 # Commanded vehicle depth: 368.910942 # Seafloor depth: -418.943628 # 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 31 # Segment length 106.141550 meters # Minimum depth: 418.747232 meters looking forward 100.000000 meters along route # Maximum depth: 419.089283 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 368.747232 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.791778; longitude = -135.561640; duration = 424; initialDepth = 368.659367; finalDepth = 368.747232; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.253266 # Actual altitude: 50.253266 # Commanded vehicle depth: 368.747232 # Seafloor depth: -419.000498 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 106.143441 meters # Minimum depth: 418.659367 meters looking forward 100.000000 meters along route # Maximum depth: 419.927498 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 368.659367 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.791154; longitude = -135.563822; duration = 424; initialDepth = 369.062675; finalDepth = 368.659367; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.443774 # Actual altitude: 50.443774 # Commanded vehicle depth: 368.659367 # Seafloor depth: -419.103141 # 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 31 # Segment length 101.640513 meters # Minimum depth: 419.062675 meters looking forward 100.000000 meters along route # Maximum depth: 419.993318 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.062675 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.790530; longitude = -135.566004; duration = 406; initialDepth = 369.722349; finalDepth = 369.062675; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.443774 # Actual altitude: 50.443774 # Commanded vehicle depth: 369.062675 # Seafloor depth: -419.189105 # 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 31 # Segment length 104.017786 meters # Minimum depth: 419.722349 meters looking forward 100.000000 meters along route # Maximum depth: 420.352682 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.722349 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.789932; longitude = -135.568094; duration = 416; initialDepth = 369.535142; finalDepth = 369.722349; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.27499 # Actual altitude: 50.27499 # Commanded vehicle depth: 369.722349 # Seafloor depth: -419.997339 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 106.148997 meters # Minimum depth: 419.535142 meters looking forward 100.000000 meters along route # Maximum depth: 424.060573 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.535142 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.789321; longitude = -135.570232; duration = 424; initialDepth = 374.196635; finalDepth = 369.535142; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.656556 # Actual altitude: 50.656556 # Commanded vehicle depth: 369.535142 # Seafloor depth: -420.191698 # 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 31 # Segment length 106.150888 meters # Minimum depth: 424.196635 meters looking forward 100.000000 meters along route # Maximum depth: 431.405129 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 374.196635 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.788697; longitude = -135.572415; duration = 424; initialDepth = 381.710586; finalDepth = 374.196635; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.656556 # Actual altitude: 50.656556 # Commanded vehicle depth: 374.196635 # Seafloor depth: -424.196635 # 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 31 # Segment length 101.218356 meters # Minimum depth: 431.710586 meters looking forward 100.000000 meters along route # Maximum depth: 436.019430 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 381.710586 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.788072; longitude = -135.574597; duration = 404; initialDepth = 386.100467; finalDepth = 381.710586; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 381.710586 # Seafloor depth: -431.710586 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 104.454372 meters # Minimum depth: 436.100467 meters looking forward 100.000000 meters along route # Maximum depth: 439.614351 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 386.100467 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.787477; longitude = -135.576677; duration = 417; initialDepth = 389.832089; finalDepth = 386.100467; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 386.100467 # Seafloor depth: -436.100467 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 104.324616 meters # Minimum depth: 439.832089 meters looking forward 100.000000 meters along route # Maximum depth: 443.511617 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 389.832089 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.786863; longitude = -135.578825; duration = 417; initialDepth = 393.635320; finalDepth = 389.832089; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 389.832089 # Seafloor depth: -439.832089 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 101.355213 meters # Minimum depth: 443.635320 meters looking forward 100.000000 meters along route # Maximum depth: 445.824218 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.635320 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.786250; longitude = -135.580969; duration = 405; initialDepth = 396.064160; finalDepth = 393.635320; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 393.63532 # Seafloor depth: -443.635320 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 102.565906 meters # Minimum depth: 446.064160 meters looking forward 100.000000 meters along route # Maximum depth: 448.856811 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 396.064160 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785654; longitude = -135.583053; duration = 410; initialDepth = 397.769957; finalDepth = 396.064160; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 396.06416 # Seafloor depth: -446.064160 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; 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 30 # Segment length 149.994872 meters # Minimum depth: 447.769957 meters looking forward 100.000000 meters along route # Maximum depth: 448.919472 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 397.769957 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785051; longitude = -135.585161; duration = 599; # abortOnTimeout = True; initialDepth = 395.060566; finalDepth = 397.769957; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.149515 # Actual altitude: 51.149515 # Commanded vehicle depth: 397.769957 # Seafloor depth: -448.919472 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 131.476804 meters # Minimum depth: 445.060566 meters looking forward 100.000000 meters along route # Maximum depth: 448.101364 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 395.060566 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.784036; longitude = -135.582482; duration = 525; # abortOnTimeout = True; initialDepth = 392.138214; finalDepth = 395.060566; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.040798 # Actual altitude: 53.040798 # Commanded vehicle depth: 395.060566 # Seafloor depth: -448.101364 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 106.158009 meters # Minimum depth: 442.138214 meters looking forward 100.000000 meters along route # Maximum depth: 444.843760 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 392.138214 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.784809; longitude = -135.579779; duration = 424; initialDepth = 389.878172; finalDepth = 392.138214; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.040798 # Actual altitude: 53.040798 # Commanded vehicle depth: 392.138214 # Seafloor depth: -444.843760 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 106.156119 meters # Minimum depth: 439.878172 meters looking forward 100.000000 meters along route # Maximum depth: 442.133213 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 389.878172 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785433; longitude = -135.577597; duration = 424; initialDepth = 387.150878; finalDepth = 389.878172; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.705546 # Actual altitude: 52.705546 # Commanded vehicle depth: 389.878172 # Seafloor depth: -442.133213 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 102.389521 meters # Minimum depth: 437.150878 meters looking forward 100.000000 meters along route # Maximum depth: 439.721262 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 387.150878 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.786057; longitude = -135.575415; duration = 409; initialDepth = 383.408591; finalDepth = 387.150878; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.570384 # Actual altitude: 52.570384 # Commanded vehicle depth: 387.150878 # Seafloor depth: -439.721262 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 103.282576 meters # Minimum depth: 433.408591 meters looking forward 100.000000 meters along route # Maximum depth: 437.052992 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 383.408591 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.786659; longitude = -135.573310; duration = 413; initialDepth = 375.133097; finalDepth = 383.408591; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.644401 # Actual altitude: 53.644401 # Commanded vehicle depth: 383.408591 # Seafloor depth: -437.052992 # 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 29 # Segment length 106.150562 meters # Minimum depth: 425.133097 meters looking forward 100.000000 meters along route # Maximum depth: 433.111902 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 375.133097 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.787266; longitude = -135.571187; duration = 424; initialDepth = 369.714931; finalDepth = 375.133097; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.978805 # Actual altitude: 57.978805 # Commanded vehicle depth: 375.133097 # Seafloor depth: -433.111902 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 106.148671 meters # Minimum depth: 419.714931 meters looking forward 100.000000 meters along route # Maximum depth: 425.090382 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.714931 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.787890; longitude = -135.569005; duration = 424; initialDepth = 369.629578; finalDepth = 369.714931; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.978805 # Actual altitude: 57.978805 # Commanded vehicle depth: 369.714931 # Seafloor depth: -425.090382 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 101.978298 meters # Minimum depth: 419.629578 meters looking forward 100.000000 meters along route # Maximum depth: 420.802186 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.629578 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.788514; longitude = -135.566823; duration = 407; initialDepth = 370.034333; finalDepth = 369.629578; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.375451 # Actual altitude: 55.375451 # Commanded vehicle depth: 369.629578 # Seafloor depth: -419.629578 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 103.679371 meters # Minimum depth: 420.034333 meters looking forward 100.000000 meters along route # Maximum depth: 420.857004 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 370.034333 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.789114; longitude = -135.564726; duration = 414; initialDepth = 368.038125; finalDepth = 370.034333; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.499213 # Actual altitude: 50.499213 # Commanded vehicle depth: 370.034333 # Seafloor depth: -420.533546 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 106.143116 meters # Minimum depth: 418.038125 meters looking forward 100.000000 meters along route # Maximum depth: 420.206837 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 368.038125 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.789724; longitude = -135.562595; duration = 424; initialDepth = 368.564599; finalDepth = 368.038125; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.168712 # Actual altitude: 52.168712 # Commanded vehicle depth: 368.038125 # Seafloor depth: -420.206837 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 106.141224 meters # Minimum depth: 418.564599 meters looking forward 100.000000 meters along route # Maximum depth: 419.609541 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 368.564599 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.790348; longitude = -135.560413; duration = 424; initialDepth = 369.239394; finalDepth = 368.564599; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.168712 # Actual altitude: 52.168712 # Commanded vehicle depth: 368.564599 # Seafloor depth: -418.564599 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 101.567132 meters # Minimum depth: 419.239394 meters looking forward 100.000000 meters along route # Maximum depth: 419.622179 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.239394 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.790972; longitude = -135.558230; duration = 406; initialDepth = 369.580174; finalDepth = 369.239394; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.050699 # Actual altitude: 50.050699 # Commanded vehicle depth: 369.239394 # Seafloor depth: -419.290093 # 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 29 # Segment length 104.076110 meters # Minimum depth: 419.580174 meters looking forward 100.000000 meters along route # Maximum depth: 419.802182 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.580174 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.791569; longitude = -135.556142; duration = 416; initialDepth = 369.727316; finalDepth = 369.580174; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.050699 # Actual altitude: 50.050699 # Commanded vehicle depth: 369.580174 # Seafloor depth: -419.596059 # 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 29 # Segment length 106.135669 meters # Minimum depth: 419.727316 meters looking forward 100.000000 meters along route # Maximum depth: 420.253351 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.727316 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.792181; longitude = -135.554002; duration = 424; initialDepth = 370.267900; finalDepth = 369.727316; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.107881 # Actual altitude: 50.107881 # Commanded vehicle depth: 369.727316 # Seafloor depth: -419.835197 # 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 29 # Segment length 106.133779 meters # Minimum depth: 420.267900 meters looking forward 100.000000 meters along route # Maximum depth: 422.156248 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 370.267900 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.792805; longitude = -135.551820; duration = 424; initialDepth = 372.253337; finalDepth = 370.267900; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.107881 # Actual altitude: 50.107881 # Commanded vehicle depth: 370.2679 # Seafloor depth: -420.267900 # 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 29 # Segment length 101.156023 meters # Minimum depth: 422.253337 meters looking forward 100.000000 meters along route # Maximum depth: 427.711435 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 372.253337 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.793429; longitude = -135.549638; duration = 404; initialDepth = 377.954713; finalDepth = 372.253337; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.142949 # Actual altitude: 50.142949 # Commanded vehicle depth: 372.253337 # Seafloor depth: -422.396286 # 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 29 # Segment length 104.472792 meters # Minimum depth: 427.954713 meters looking forward 100.000000 meters along route # Maximum depth: 434.300129 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 377.954713 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794024; longitude = -135.547558; duration = 417; initialDepth = 384.546697; finalDepth = 377.954713; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.142949 # Actual altitude: 50.142949 # Commanded vehicle depth: 377.954713 # Seafloor depth: -427.954713 # 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 29 # Segment length 106.128224 meters # Minimum depth: 434.546697 meters looking forward 100.000000 meters along route # Maximum depth: 438.226022 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 384.546697 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794638; longitude = -135.545410; duration = 424; initialDepth = 388.277977; finalDepth = 384.546697; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 384.546697 # Seafloor depth: -434.546697 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 101.292057 meters # Minimum depth: 438.277977 meters looking forward 100.000000 meters along route # Maximum depth: 441.207035 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 388.277977 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795262; longitude = -135.543228; duration = 405; initialDepth = 390.495743; finalDepth = 388.277977; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 388.277977 # Seafloor depth: -438.277977 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; 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 150.020087 meters # Minimum depth: 440.495743 meters looking forward 100.000000 meters along route # Maximum depth: 441.304008 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 390.495743 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795858; longitude = -135.541145; duration = 600; # abortOnTimeout = True; initialDepth = 386.793572; finalDepth = 390.495743; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.808265 # Actual altitude: 50.808265 # Commanded vehicle depth: 390.495743 # Seafloor depth: -441.304008 # 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; } # ####################################################### # # 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 139.124913 meters # Minimum depth: 436.793572 meters looking forward 100.000000 meters along route # Maximum depth: 440.305550 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 386.793572 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794842; longitude = -135.538467; duration = 556; # abortOnTimeout = True; initialDepth = 383.998466; finalDepth = 386.793572; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.511978 # Actual altitude: 53.511978 # Commanded vehicle depth: 386.793572 # Seafloor depth: -440.305550 # 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 27 # Segment length 105.675878 meters # Minimum depth: 433.998466 meters looking forward 100.000000 meters along route # Maximum depth: 436.785612 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 383.998466 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794024; longitude = -135.541328; duration = 422; initialDepth = 380.418162; finalDepth = 383.998466; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.511978 # Actual altitude: 53.511978 # Commanded vehicle depth: 383.998466 # Seafloor depth: -436.785612 # 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 27 # Segment length 103.078417 meters # Minimum depth: 430.418162 meters looking forward 100.000000 meters along route # Maximum depth: 433.668587 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 380.418162 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.793403; longitude = -135.543501; duration = 412; initialDepth = 373.139410; finalDepth = 380.418162; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.250425 # Actual altitude: 53.250425 # Commanded vehicle depth: 380.418162 # Seafloor depth: -433.668587 # 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 27 # Segment length 102.552287 meters # Minimum depth: 423.139410 meters looking forward 100.000000 meters along route # Maximum depth: 430.248666 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 373.139410 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.792796; longitude = -135.545620; duration = 410; initialDepth = 371.803092; finalDepth = 373.139410; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.109256 # Actual altitude: 57.109256 # Commanded vehicle depth: 373.13941 # Seafloor depth: -430.248666 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 106.209324 meters # Minimum depth: 421.803092 meters looking forward 100.000000 meters along route # Maximum depth: 422.722577 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 371.803092 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.792193; longitude = -135.547729; duration = 424; initialDepth = 370.559868; finalDepth = 371.803092; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.109256 # Actual altitude: 57.109256 # Commanded vehicle depth: 371.803092 # Seafloor depth: -422.722577 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 106.062075 meters # Minimum depth: 420.559868 meters looking forward 100.000000 meters along route # Maximum depth: 422.092044 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 370.559868 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.791569; longitude = -135.549912; duration = 424; initialDepth = 370.134596; finalDepth = 370.559868; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.532176 # Actual altitude: 51.532176 # Commanded vehicle depth: 370.559868 # Seafloor depth: -422.092044 # 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 27 # Segment length 102.706852 meters # Minimum depth: 420.134596 meters looking forward 100.000000 meters along route # Maximum depth: 420.730000 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 370.134596 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.790945; longitude = -135.552093; duration = 410; initialDepth = 370.202048; finalDepth = 370.134596; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.532176 # Actual altitude: 51.532176 # Commanded vehicle depth: 370.134596 # Seafloor depth: -420.628080 # 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 27 # Segment length 102.938278 meters # Minimum depth: 420.202048 meters looking forward 100.000000 meters along route # Maximum depth: 420.606060 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 370.202048 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.790341; longitude = -135.554205; duration = 411; initialDepth = 370.683931; finalDepth = 370.202048; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.493484 # Actual altitude: 50.493484 # Commanded vehicle depth: 370.202048 # Seafloor depth: -420.202048 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 106.142200 meters # Minimum depth: 420.683931 meters looking forward 100.000000 meters along route # Maximum depth: 421.112567 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 370.683931 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.789736; longitude = -135.556321; duration = 424; initialDepth = 370.348243; finalDepth = 370.683931; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.098042 # Actual altitude: 50.098042 # Commanded vehicle depth: 370.683931 # Seafloor depth: -420.781973 # 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 27 # Segment length 106.144091 meters # Minimum depth: 420.348243 meters looking forward 100.000000 meters along route # Maximum depth: 421.763278 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 370.348243 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.789112; longitude = -135.558503; duration = 424; initialDepth = 370.053368; finalDepth = 370.348243; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.334921 # Actual altitude: 50.334921 # Commanded vehicle depth: 370.348243 # Seafloor depth: -420.683164 # 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 27 # Segment length 102.335234 meters # Minimum depth: 420.053368 meters looking forward 100.000000 meters along route # Maximum depth: 421.668376 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 370.053368 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.788488; longitude = -135.560685; duration = 409; initialDepth = 371.101483; finalDepth = 370.053368; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.615008 # Actual altitude: 51.615008 # Commanded vehicle depth: 370.053368 # Seafloor depth: -421.668376 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 103.324323 meters # Minimum depth: 421.101483 meters looking forward 100.000000 meters along route # Maximum depth: 429.128154 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 371.101483 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.787887; longitude = -135.562789; duration = 413; initialDepth = 379.804481; finalDepth = 371.101483; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.615008 # Actual altitude: 51.615008 # Commanded vehicle depth: 371.101483 # Seafloor depth: -421.101483 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 106.149647 meters # Minimum depth: 429.804481 meters looking forward 100.000000 meters along route # Maximum depth: 434.634199 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 379.804481 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.787279; longitude = -135.564913; duration = 424; initialDepth = 384.648301; finalDepth = 379.804481; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 379.804481 # Seafloor depth: -429.804481 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 106.151537 meters # Minimum depth: 434.648301 meters looking forward 100.000000 meters along route # Maximum depth: 437.818892 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 384.648301 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.786655; longitude = -135.567095; duration = 424; initialDepth = 387.959318; finalDepth = 384.648301; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 384.648301 # Seafloor depth: -434.648301 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 101.963563 meters # Minimum depth: 437.959318 meters looking forward 100.000000 meters along route # Maximum depth: 440.082084 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 387.959318 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.786031; longitude = -135.569278; duration = 407; initialDepth = 390.116240; finalDepth = 387.959318; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 387.959318 # Seafloor depth: -437.959318 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 103.710423 meters # Minimum depth: 440.116240 meters looking forward 100.000000 meters along route # Maximum depth: 441.865550 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 390.116240 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785432; longitude = -135.571374; duration = 414; initialDepth = 391.965136; finalDepth = 390.116240; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 390.11624 # Seafloor depth: -440.116240 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 105.095089 meters # Minimum depth: 441.965136 meters looking forward 100.000000 meters along route # Maximum depth: 444.200338 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 391.965136 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.784822; longitude = -135.573506; duration = 420; initialDepth = 394.223793; finalDepth = 391.965136; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 391.965136 # Seafloor depth: -441.965136 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 100.585996 meters # Minimum depth: 444.223793 meters looking forward 100.000000 meters along route # Maximum depth: 445.775029 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 394.223793 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.784204; longitude = -135.575666; duration = 402; initialDepth = 395.916042; finalDepth = 394.223793; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 394.223793 # Seafloor depth: -444.223793 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 100.673133 meters # Minimum depth: 445.916042 meters looking forward 100.000000 meters along route # Maximum depth: 447.790902 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 395.916042 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.783613; longitude = -135.577734; duration = 402; initialDepth = 397.369790; finalDepth = 395.916042; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 395.916042 # Seafloor depth: -445.916042 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; 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 26 # Segment length 149.977295 meters # Minimum depth: 447.369790 meters looking forward 100.000000 meters along route # Maximum depth: 447.853401 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 397.369790 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.783021; longitude = -135.579803; duration = 599; # abortOnTimeout = True; initialDepth = 395.943551; finalDepth = 397.369790; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.483611 # Actual altitude: 50.483611 # Commanded vehicle depth: 397.36979 # Seafloor depth: -447.853401 # 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 25 # Segment length 129.636215 meters # Minimum depth: 445.943551 meters looking forward 100.000000 meters along route # Maximum depth: 447.734009 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 395.943551 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.782006; longitude = -135.577125; duration = 518; # abortOnTimeout = True; initialDepth = 394.581353; finalDepth = 395.943551; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.790458 # Actual altitude: 51.790458 # Commanded vehicle depth: 395.943551 # Seafloor depth: -447.734009 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 106.161414 meters # Minimum depth: 444.581353 meters looking forward 100.000000 meters along route # Maximum depth: 445.908449 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 394.581353 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.782768; longitude = -135.574460; duration = 424; initialDepth = 392.870312; finalDepth = 394.581353; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.790458 # Actual altitude: 51.790458 # Commanded vehicle depth: 394.581353 # Seafloor depth: -445.908449 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 106.159523 meters # Minimum depth: 442.870312 meters looking forward 100.000000 meters along route # Maximum depth: 444.559025 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 392.870312 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.783392; longitude = -135.572278; duration = 424; initialDepth = 390.968408; finalDepth = 392.870312; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.688713 # Actual altitude: 51.688713 # Commanded vehicle depth: 392.870312 # Seafloor depth: -444.559025 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 101.576648 meters # Minimum depth: 440.968408 meters looking forward 100.000000 meters along route # Maximum depth: 442.767332 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 390.968408 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.784016; longitude = -135.570096; duration = 406; initialDepth = 389.215635; finalDepth = 390.968408; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.798924 # Actual altitude: 51.798924 # Commanded vehicle depth: 390.968408 # Seafloor depth: -442.767332 # 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 25 # Segment length 104.102045 meters # Minimum depth: 439.215635 meters looking forward 100.000000 meters along route # Maximum depth: 440.934718 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 389.215635 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.784613; longitude = -135.568008; duration = 416; initialDepth = 386.582628; finalDepth = 389.215635; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.798924 # Actual altitude: 51.798924 # Commanded vehicle depth: 389.215635 # Seafloor depth: -440.934718 # 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 25 # Segment length 106.153967 meters # Minimum depth: 436.582628 meters looking forward 100.000000 meters along route # Maximum depth: 439.022083 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 386.582628 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785225; longitude = -135.565868; duration = 424; initialDepth = 384.334523; finalDepth = 386.582628; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.439455 # Actual altitude: 52.439455 # Commanded vehicle depth: 386.582628 # Seafloor depth: -439.022083 # 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 25 # Segment length 106.152075 meters # Minimum depth: 434.334523 meters looking forward 100.000000 meters along route # Maximum depth: 436.527357 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 384.334523 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785849; longitude = -135.563686; duration = 424; initialDepth = 382.605616; finalDepth = 384.334523; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.439455 # Actual altitude: 52.439455 # Commanded vehicle depth: 384.334523 # Seafloor depth: -436.527357 # 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 25 # Segment length 101.190691 meters # Minimum depth: 432.605616 meters looking forward 100.000000 meters along route # Maximum depth: 434.177914 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 382.605616 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.786473; longitude = -135.561504; duration = 404; initialDepth = 379.941388; finalDepth = 382.605616; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.192834 # Actual altitude: 52.192834 # Commanded vehicle depth: 382.605616 # Seafloor depth: -434.177914 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 104.473574 meters # Minimum depth: 429.941388 meters looking forward 100.000000 meters along route # Maximum depth: 432.566228 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 379.941388 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.787068; longitude = -135.559423; duration = 417; initialDepth = 376.375384; finalDepth = 379.941388; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.62484 # Actual altitude: 52.62484 # Commanded vehicle depth: 379.941388 # Seafloor depth: -432.566228 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 106.146521 meters # Minimum depth: 426.375384 meters looking forward 100.000000 meters along route # Maximum depth: 429.839368 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 376.375384 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.787682; longitude = -135.557276; duration = 424; initialDepth = 372.597494; finalDepth = 376.375384; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.463984 # Actual altitude: 53.463984 # Commanded vehicle depth: 376.375384 # Seafloor depth: -429.839368 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 106.144629 meters # Minimum depth: 422.597494 meters looking forward 100.000000 meters along route # Maximum depth: 426.288447 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 372.597494 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.788306; longitude = -135.555093; duration = 424; initialDepth = 371.808616; finalDepth = 372.597494; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.690953 # Actual altitude: 53.690953 # Commanded vehicle depth: 372.597494 # Seafloor depth: -426.288447 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.804787 meters # Minimum depth: 421.808616 meters looking forward 100.000000 meters along route # Maximum depth: 422.294391 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 371.808616 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.788930; longitude = -135.552911; duration = 403; initialDepth = 371.567692; finalDepth = 371.808616; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.690953 # Actual altitude: 53.690953 # Commanded vehicle depth: 371.808616 # Seafloor depth: -422.294391 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 104.845051 meters # Minimum depth: 421.567692 meters looking forward 100.000000 meters along route # Maximum depth: 423.008125 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 371.567692 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.789523; longitude = -135.550839; duration = 419; initialDepth = 373.459440; finalDepth = 371.567692; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.502366 # Actual altitude: 50.502366 # Commanded vehicle depth: 371.567692 # Seafloor depth: -422.070058 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 106.139074 meters # Minimum depth: 423.459440 meters looking forward 100.000000 meters along route # Maximum depth: 428.170564 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 373.459440 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.790140; longitude = -135.548683; duration = 424; initialDepth = 378.230812; finalDepth = 373.459440; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.502366 # Actual altitude: 50.502366 # Commanded vehicle depth: 373.45944 # Seafloor depth: -423.459440 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 106.137184 meters # Minimum depth: 428.230812 meters looking forward 100.000000 meters along route # Maximum depth: 430.863212 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 378.230812 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.790764; longitude = -135.546501; duration = 424; initialDepth = 381.035770; finalDepth = 378.230812; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 378.230812 # Seafloor depth: -428.230812 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 100.418936 meters # Minimum depth: 431.035770 meters looking forward 100.000000 meters along route # Maximum depth: 433.516739 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 381.035770 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.791388; longitude = -135.544319; duration = 401; initialDepth = 383.533177; finalDepth = 381.035770; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 381.03577 # Seafloor depth: -431.035770 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 105.216476 meters # Minimum depth: 433.533177 meters looking forward 100.000000 meters along route # Maximum depth: 435.373171 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 383.533177 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.791978; longitude = -135.542254; duration = 420; initialDepth = 385.490495; finalDepth = 383.533177; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 383.533177 # Seafloor depth: -433.533177 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 106.131629 meters # Minimum depth: 435.490495 meters looking forward 100.000000 meters along route # Maximum depth: 437.475734 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 385.490495 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.792597; longitude = -135.540091; duration = 424; initialDepth = 387.523139; finalDepth = 385.490495; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 385.490495 # Seafloor depth: -435.490495 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 103.090855 meters # Minimum depth: 437.523139 meters looking forward 100.000000 meters along route # Maximum depth: 439.248720 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 387.523139 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.793221; longitude = -135.537909; duration = 412; initialDepth = 388.309016; finalDepth = 387.523139; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 387.523139 # Seafloor depth: -437.523139 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; 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 150.026606 meters # Minimum depth: 438.309016 meters looking forward 100.000000 meters along route # Maximum depth: 439.305420 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 388.309016 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.793827; longitude = -135.535789; duration = 600; # abortOnTimeout = True; initialDepth = 386.673434; finalDepth = 388.309016; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.996404 # Actual altitude: 50.996404 # Commanded vehicle depth: 388.309016 # Seafloor depth: -439.305420 # 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; } # ####################################################### # # 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 133.836977 meters # Minimum depth: 436.673434 meters looking forward 100.000000 meters along route # Maximum depth: 438.432320 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 386.673434 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.792811; longitude = -135.533111; duration = 535; # abortOnTimeout = True; initialDepth = 385.203096; finalDepth = 386.673434; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.758886 # Actual altitude: 51.758886 # Commanded vehicle depth: 386.673434 # Seafloor depth: -438.432320 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.608593 meters # Minimum depth: 435.203096 meters looking forward 100.000000 meters along route # Maximum depth: 436.582066 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 385.203096 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.792024; longitude = -135.535863; duration = 402; initialDepth = 384.151605; finalDepth = 385.203096; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.758886 # Actual altitude: 51.758886 # Commanded vehicle depth: 385.203096 # Seafloor depth: -436.582066 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 105.022678 meters # Minimum depth: 434.151605 meters looking forward 100.000000 meters along route # Maximum depth: 435.208475 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 384.151605 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.791433; longitude = -135.537932; duration = 420; initialDepth = 382.299316; finalDepth = 384.151605; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.37897 # Actual altitude: 51.37897 # Commanded vehicle depth: 384.151605 # Seafloor depth: -435.202062 # 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 23 # Segment length 106.135046 meters # Minimum depth: 432.299316 meters looking forward 100.000000 meters along route # Maximum depth: 434.022136 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 382.299316 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.790815; longitude = -135.540091; duration = 424; initialDepth = 381.127972; finalDepth = 382.299316; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.72282 # Actual altitude: 51.72282 # Commanded vehicle depth: 382.299316 # Seafloor depth: -434.022136 # 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 23 # Segment length 106.136937 meters # Minimum depth: 431.127972 meters looking forward 100.000000 meters along route # Maximum depth: 432.244418 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 381.127972 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.790191; longitude = -135.542273; duration = 424; initialDepth = 380.135178; finalDepth = 381.127972; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.72282 # Actual altitude: 51.72282 # Commanded vehicle depth: 381.127972 # Seafloor depth: -432.244418 # 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 23 # Segment length 100.272178 meters # Minimum depth: 430.135178 meters looking forward 100.000000 meters along route # Maximum depth: 431.213619 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 380.135178 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.789567; longitude = -135.544455; duration = 401; initialDepth = 380.118238; finalDepth = 380.135178; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.116446 # Actual altitude: 51.116446 # Commanded vehicle depth: 380.135178 # Seafloor depth: -431.204661 # 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 23 # Segment length 105.373517 meters # Minimum depth: 430.118238 meters looking forward 100.000000 meters along route # Maximum depth: 430.363977 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 380.118238 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.788978; longitude = -135.546517; duration = 421; initialDepth = 379.960569; finalDepth = 380.118238; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.069483 # Actual altitude: 51.069483 # Commanded vehicle depth: 380.118238 # Seafloor depth: -430.132588 # 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 23 # Segment length 103.420877 meters # Minimum depth: 429.960569 meters looking forward 100.000000 meters along route # Maximum depth: 430.783736 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 379.960569 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.788358; longitude = -135.548683; duration = 413; initialDepth = 380.824510; finalDepth = 379.960569; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.173125 # Actual altitude: 50.173125 # Commanded vehicle depth: 379.960569 # Seafloor depth: -430.133694 # 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 102.231917 meters # Minimum depth: 430.824510 meters looking forward 100.000000 meters along route # Maximum depth: 432.670954 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 380.824510 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.787750; longitude = -135.550809; duration = 408; initialDepth = 382.743413; finalDepth = 380.824510; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.173125 # Actual altitude: 50.173125 # Commanded vehicle depth: 380.82451 # Seafloor depth: -430.824510 # 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 106.569796 meters # Minimum depth: 432.743413 meters looking forward 100.000000 meters along route # Maximum depth: 434.070950 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 382.743413 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.787149; longitude = -135.552911; duration = 426; initialDepth = 384.077915; finalDepth = 382.743413; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 382.743413 # Seafloor depth: -432.743413 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 105.724406 meters # Minimum depth: 434.077915 meters looking forward 100.000000 meters along route # Maximum depth: 434.591035 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 384.077915 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.786523; longitude = -135.555102; duration = 422; initialDepth = 384.669602; finalDepth = 384.077915; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 384.077915 # Seafloor depth: -434.077915 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 103.084624 meters # Minimum depth: 434.669602 meters looking forward 100.000000 meters along route # Maximum depth: 436.182773 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 384.669602 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785901; longitude = -135.557276; duration = 412; initialDepth = 386.240968; finalDepth = 384.669602; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 384.669602 # Seafloor depth: -434.669602 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 102.582597 meters # Minimum depth: 436.240968 meters looking forward 100.000000 meters along route # Maximum depth: 437.368035 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 386.240968 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785295; longitude = -135.559395; duration = 410; initialDepth = 387.545356; finalDepth = 386.240968; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 386.240968 # Seafloor depth: -436.240968 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 106.233750 meters # Minimum depth: 437.545356 meters looking forward 100.000000 meters along route # Maximum depth: 439.711375 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 387.545356 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.784692; longitude = -135.561504; duration = 424; initialDepth = 389.713019; finalDepth = 387.545356; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 387.545356 # Seafloor depth: -437.545356 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 106.075343 meters # Minimum depth: 439.713019 meters looking forward 100.000000 meters along route # Maximum depth: 441.328232 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 389.713019 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.784068; longitude = -135.563687; duration = 424; initialDepth = 391.476815; finalDepth = 389.713019; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 389.713019 # Seafloor depth: -439.713019 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 102.748323 meters # Minimum depth: 441.476815 meters looking forward 100.000000 meters along route # Maximum depth: 443.353507 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 391.476815 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.783444; longitude = -135.565868; duration = 410; initialDepth = 393.441340; finalDepth = 391.476815; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 391.476815 # Seafloor depth: -441.476815 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 102.933326 meters # Minimum depth: 443.441340 meters looking forward 100.000000 meters along route # Maximum depth: 445.331539 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.441340 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.782840; longitude = -135.567980; duration = 411; initialDepth = 395.403803; finalDepth = 393.441340; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 393.44134 # Seafloor depth: -443.441340 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 106.161048 meters # Minimum depth: 445.403803 meters looking forward 100.000000 meters along route # Maximum depth: 446.450103 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 395.403803 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.782235; longitude = -135.570096; duration = 424; initialDepth = 396.455073; finalDepth = 395.403803; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 395.403803 # Seafloor depth: -445.403803 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 105.514302 meters # Minimum depth: 446.455073 meters looking forward 100.000000 meters along route # Maximum depth: 447.427114 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 396.455073 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.781611; longitude = -135.572278; duration = 422; initialDepth = 396.726254; finalDepth = 396.455073; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 396.455073 # Seafloor depth: -446.455073 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 150.068011 meters # Minimum depth: 446.726254 meters looking forward 100.000000 meters along route # Maximum depth: 447.480499 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 396.726254 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.780991; longitude = -135.574447; duration = 600; # abortOnTimeout = True; initialDepth = 393.815574; finalDepth = 396.726254; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.754245 # Actual altitude: 50.754245 # Commanded vehicle depth: 396.726254 # Seafloor depth: -447.480499 # 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; } # ####################################################### # # 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 127.844164 meters # Minimum depth: 443.815574 meters looking forward 100.000000 meters along route # Maximum depth: 447.078362 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.815574 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.779975; longitude = -135.571769; duration = 511; # abortOnTimeout = True; initialDepth = 391.590990; finalDepth = 393.815574; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.262788 # Actual altitude: 53.262788 # Commanded vehicle depth: 393.815574 # Seafloor depth: -447.078362 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 106.164821 meters # Minimum depth: 441.590990 meters looking forward 100.000000 meters along route # Maximum depth: 443.647035 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 391.590990 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.780726; longitude = -135.569141; duration = 424; initialDepth = 390.276509; finalDepth = 391.590990; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.262788 # Actual altitude: 53.262788 # Commanded vehicle depth: 391.59099 # Seafloor depth: -443.647035 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 106.162930 meters # Minimum depth: 440.276509 meters looking forward 100.000000 meters along route # Maximum depth: 441.561709 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 390.276509 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.781350; longitude = -135.566959; duration = 424; initialDepth = 389.897705; finalDepth = 390.276509; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.056045 # Actual altitude: 52.056045 # Commanded vehicle depth: 390.276509 # Seafloor depth: -441.561709 # 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 21 # Segment length 100.884883 meters # Minimum depth: 439.897705 meters looking forward 100.000000 meters along route # Maximum depth: 440.250451 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 389.897705 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.781974; longitude = -135.564777; duration = 403; initialDepth = 389.127603; finalDepth = 389.897705; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2852 # Actual altitude: 51.2852 # Commanded vehicle depth: 389.897705 # Seafloor depth: -440.250451 # 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 21 # Segment length 104.800411 meters # Minimum depth: 439.127603 meters looking forward 100.000000 meters along route # Maximum depth: 440.001771 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 389.127603 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.782567; longitude = -135.562703; duration = 419; initialDepth = 387.988192; finalDepth = 389.127603; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.874168 # Actual altitude: 50.874168 # Commanded vehicle depth: 389.127603 # Seafloor depth: -440.001771 # 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 21 # Segment length 106.157374 meters # Minimum depth: 437.988192 meters looking forward 100.000000 meters along route # Maximum depth: 439.057749 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 387.988192 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.783183; longitude = -135.560549; duration = 424; initialDepth = 387.117147; finalDepth = 387.988192; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.069557 # Actual altitude: 51.069557 # Commanded vehicle depth: 387.988192 # Seafloor depth: -439.057749 # 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 21 # Segment length 106.155483 meters # Minimum depth: 437.117147 meters looking forward 100.000000 meters along route # Maximum depth: 437.960715 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 387.117147 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.783807; longitude = -135.558367; duration = 424; initialDepth = 385.732011; finalDepth = 387.117147; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.069557 # Actual altitude: 51.069557 # Commanded vehicle depth: 387.117147 # Seafloor depth: -437.960715 # 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 21 # Segment length 100.524188 meters # Minimum depth: 435.732011 meters looking forward 100.000000 meters along route # Maximum depth: 437.033867 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 385.732011 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.784431; longitude = -135.556185; duration = 402; initialDepth = 385.138853; finalDepth = 385.732011; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.301856 # Actual altitude: 51.301856 # Commanded vehicle depth: 385.732011 # Seafloor depth: -437.033867 # 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 21 # Segment length 105.146679 meters # Minimum depth: 435.138853 meters looking forward 100.000000 meters along route # Maximum depth: 435.721573 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 385.138853 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785022; longitude = -135.554118; duration = 420; initialDepth = 384.249363; finalDepth = 385.138853; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.301856 # Actual altitude: 51.301856 # Commanded vehicle depth: 385.138853 # Seafloor depth: -435.721573 # 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 21 # Segment length 106.149928 meters # Minimum depth: 434.249363 meters looking forward 100.000000 meters along route # Maximum depth: 435.115384 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 384.249363 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785640; longitude = -135.551957; duration = 424; initialDepth = 383.363498; finalDepth = 384.249363; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.856241 # Actual altitude: 50.856241 # Commanded vehicle depth: 384.249363 # Seafloor depth: -435.105604 # 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 21 # Segment length 106.148036 meters # Minimum depth: 433.363498 meters looking forward 100.000000 meters along route # Maximum depth: 434.236976 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 383.363498 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.786265; longitude = -135.549774; duration = 424; initialDepth = 382.383970; finalDepth = 383.363498; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.873478 # Actual altitude: 50.873478 # Commanded vehicle depth: 383.363498 # Seafloor depth: -434.236976 # 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 21 # Segment length 100.163544 meters # Minimum depth: 432.383970 meters looking forward 100.000000 meters along route # Maximum depth: 433.293889 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 382.383970 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.786889; longitude = -135.547592; duration = 400; initialDepth = 382.380511; finalDepth = 382.383970; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.909919 # Actual altitude: 50.909919 # Commanded vehicle depth: 382.38397 # Seafloor depth: -433.293889 # 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 21 # Segment length 105.492896 meters # Minimum depth: 432.380511 meters looking forward 100.000000 meters along route # Maximum depth: 432.746398 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 382.380511 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.787477; longitude = -135.545533; duration = 421; initialDepth = 382.737505; finalDepth = 382.380511; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.909919 # Actual altitude: 50.909919 # Commanded vehicle depth: 382.380511 # Seafloor depth: -432.380511 # 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 21 # Segment length 103.300222 meters # Minimum depth: 432.737505 meters looking forward 100.000000 meters along route # Maximum depth: 433.191685 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 382.737505 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.788098; longitude = -135.543364; duration = 413; initialDepth = 383.245941; finalDepth = 382.737505; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.022626 # Actual altitude: 50.022626 # Commanded vehicle depth: 382.737505 # Seafloor depth: -432.760131 # 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 21 # Segment length 102.349120 meters # Minimum depth: 433.245941 meters looking forward 100.000000 meters along route # Maximum depth: 434.270525 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 383.245941 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.788705; longitude = -135.541240; duration = 409; initialDepth = 384.307479; finalDepth = 383.245941; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.022626 # Actual altitude: 50.022626 # Commanded vehicle depth: 383.245941 # Seafloor depth: -433.245941 # 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 21 # Segment length 106.436681 meters # Minimum depth: 434.307479 meters looking forward 100.000000 meters along route # Maximum depth: 435.175203 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 384.307479 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.789307; longitude = -135.539136; duration = 425; initialDepth = 385.177907; finalDepth = 384.307479; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 384.307479 # Seafloor depth: -434.307479 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 105.839064 meters # Minimum depth: 435.177907 meters looking forward 100.000000 meters along route # Maximum depth: 436.172258 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 385.177907 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.789932; longitude = -135.536948; duration = 423; initialDepth = 386.229197; finalDepth = 385.177907; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 385.177907 # Seafloor depth: -435.177907 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 106.135037 meters # Minimum depth: 436.229197 meters looking forward 100.000000 meters along route # Maximum depth: 437.105209 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 386.229197 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.790555; longitude = -135.534772; duration = 424; initialDepth = 387.105573; finalDepth = 386.229197; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.007224 # Actual altitude: 50.007224 # Commanded vehicle depth: 386.229197 # Seafloor depth: -436.236421 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 104.841135 meters # Minimum depth: 437.105573 meters looking forward 100.000000 meters along route # Maximum depth: 437.720960 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 387.105573 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.791179; longitude = -135.532590; duration = 419; initialDepth = 383.872371; finalDepth = 387.105573; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.007224 # Actual altitude: 50.007224 # Commanded vehicle depth: 387.105573 # Seafloor depth: -437.105573 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; 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 150.009063 meters # Minimum depth: 433.872371 meters looking forward 100.000000 meters along route # Maximum depth: 437.737221 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 383.872371 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.791795; longitude = -135.530434; duration = 600; # abortOnTimeout = True; initialDepth = 383.809639; finalDepth = 383.872371; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.86485 # Actual altitude: 53.86485 # Commanded vehicle depth: 383.872371 # Seafloor depth: -437.737221 # 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; } # ####################################################### # # 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 135.539596 meters # Minimum depth: 433.809639 meters looking forward 100.000000 meters along route # Maximum depth: 436.332900 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 383.809639 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.790779; longitude = -135.527757; duration = 542; # abortOnTimeout = True; initialDepth = 386.103099; finalDepth = 383.809639; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.86485 # Actual altitude: 53.86485 # Commanded vehicle depth: 383.809639 # Seafloor depth: -433.809639 # 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 19 # Segment length 101.275026 meters # Minimum depth: 436.103099 meters looking forward 100.000000 meters along route # Maximum depth: 436.381715 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 386.103099 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.789982; longitude = -135.530544; duration = 405; initialDepth = 385.645786; finalDepth = 386.103099; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.278616 # Actual altitude: 50.278616 # Commanded vehicle depth: 386.103099 # Seafloor depth: -436.381715 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 104.362846 meters # Minimum depth: 435.645786 meters looking forward 100.000000 meters along route # Maximum depth: 436.093889 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 385.645786 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.789387; longitude = -135.532626; duration = 417; initialDepth = 385.199469; finalDepth = 385.645786; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.448103 # Actual altitude: 50.448103 # Commanded vehicle depth: 385.645786 # Seafloor depth: -436.093889 # 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 19 # Segment length 106.138453 meters # Minimum depth: 435.199469 meters looking forward 100.000000 meters along route # Maximum depth: 435.605412 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 385.199469 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.788773; longitude = -135.534772; duration = 424; initialDepth = 384.584277; finalDepth = 385.199469; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.448103 # Actual altitude: 50.448103 # Commanded vehicle depth: 385.199469 # Seafloor depth: -435.605412 # 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 19 # Segment length 106.140344 meters # Minimum depth: 434.584277 meters looking forward 100.000000 meters along route # Maximum depth: 435.198998 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 384.584277 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.788149; longitude = -135.536954; duration = 424; initialDepth = 384.118009; finalDepth = 384.584277; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.614721 # Actual altitude: 50.614721 # Commanded vehicle depth: 384.584277 # Seafloor depth: -435.198998 # 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 19 # Segment length 100.963876 meters # Minimum depth: 434.118009 meters looking forward 100.000000 meters along route # Maximum depth: 434.506516 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 384.118009 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.787525; longitude = -135.539136; duration = 403; initialDepth = 383.510179; finalDepth = 384.118009; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.614721 # Actual altitude: 50.614721 # Commanded vehicle depth: 384.118009 # Seafloor depth: -434.506516 # 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 19 # Segment length 104.688421 meters # Minimum depth: 433.510179 meters looking forward 100.000000 meters along route # Maximum depth: 434.116697 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 383.510179 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.786932; longitude = -135.541212; duration = 418; initialDepth = 383.341354; finalDepth = 383.510179; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.606518 # Actual altitude: 50.606518 # Commanded vehicle depth: 383.510179 # Seafloor depth: -434.116697 # 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 19 # Segment length 106.145898 meters # Minimum depth: 433.341354 meters looking forward 100.000000 meters along route # Maximum depth: 433.471437 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 383.341354 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.786316; longitude = -135.543364; duration = 424; initialDepth = 383.410793; finalDepth = 383.341354; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.606518 # Actual altitude: 50.606518 # Commanded vehicle depth: 383.341354 # Seafloor depth: -433.471437 # 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 19 # Segment length 106.147790 meters # Minimum depth: 433.410793 meters looking forward 100.000000 meters along route # Maximum depth: 434.255476 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 383.410793 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785692; longitude = -135.545546; duration = 424; initialDepth = 384.318066; finalDepth = 383.410793; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.130083 # Actual altitude: 50.130083 # Commanded vehicle depth: 383.410793 # Seafloor depth: -433.410793 # 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 19 # Segment length 100.652682 meters # Minimum depth: 434.318066 meters looking forward 100.000000 meters along route # Maximum depth: 435.588889 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 384.318066 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785068; longitude = -135.547729; duration = 402; initialDepth = 385.612692; finalDepth = 384.318066; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 384.318066 # Seafloor depth: -434.318066 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 105.014040 meters # Minimum depth: 435.612692 meters looking forward 100.000000 meters along route # Maximum depth: 436.479176 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 385.612692 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.784477; longitude = -135.549798; duration = 420; initialDepth = 386.389051; finalDepth = 385.612692; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 385.612692 # Seafloor depth: -435.612692 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 106.153345 meters # Minimum depth: 436.389051 meters looking forward 100.000000 meters along route # Maximum depth: 436.673852 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 386.389051 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.783860; longitude = -135.551957; duration = 424; initialDepth = 386.554645; finalDepth = 386.389051; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.023083 # Actual altitude: 50.023083 # Commanded vehicle depth: 386.389051 # Seafloor depth: -436.412134 # 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 106.155235 meters # Minimum depth: 436.554645 meters looking forward 100.000000 meters along route # Maximum depth: 437.018919 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 386.554645 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.783236; longitude = -135.554139; duration = 424; initialDepth = 386.764133; finalDepth = 386.554645; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.023083 # Actual altitude: 50.023083 # Commanded vehicle depth: 386.554645 # Seafloor depth: -436.554645 # 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 100.341443 meters # Minimum depth: 436.764133 meters looking forward 100.000000 meters along route # Maximum depth: 437.101431 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 386.764133 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.782612; longitude = -135.556321; duration = 401; initialDepth = 386.460879; finalDepth = 386.764133; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.304048 # Actual altitude: 50.304048 # Commanded vehicle depth: 386.764133 # Seafloor depth: -437.068181 # 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 19 # Segment length 105.339707 meters # Minimum depth: 436.460879 meters looking forward 100.000000 meters along route # Maximum depth: 436.776763 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 386.460879 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.782022; longitude = -135.558384; duration = 421; initialDepth = 386.493870; finalDepth = 386.460879; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.304048 # Actual altitude: 50.304048 # Commanded vehicle depth: 386.460879 # Seafloor depth: -436.762026 # 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 19 # Segment length 106.160790 meters # Minimum depth: 436.493870 meters looking forward 100.000000 meters along route # Maximum depth: 437.343067 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 386.493870 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.781403; longitude = -135.560549; duration = 424; initialDepth = 387.393942; finalDepth = 386.493870; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.301147 # Actual altitude: 50.301147 # Commanded vehicle depth: 386.49387 # Seafloor depth: -436.493870 # 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 19 # Segment length 106.162682 meters # Minimum depth: 437.393942 meters looking forward 100.000000 meters along route # Maximum depth: 438.952055 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 387.393942 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.780779; longitude = -135.562731; duration = 424; initialDepth = 389.066739; finalDepth = 387.393942; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 387.393942 # Seafloor depth: -437.393942 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 100.030161 meters # Minimum depth: 439.066739 meters looking forward 100.000000 meters along route # Maximum depth: 440.886597 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 389.066739 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.780155; longitude = -135.564913; duration = 400; initialDepth = 390.897931; finalDepth = 389.066739; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 389.066739 # Seafloor depth: -439.066739 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 103.269212 meters # Minimum depth: 440.897931 meters looking forward 100.000000 meters along route # Maximum depth: 443.069344 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 390.897931 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.779567; longitude = -135.566969; duration = 413; initialDepth = 389.205881; finalDepth = 390.897931; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 390.897931 # Seafloor depth: -440.897931 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; 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 18 # Segment length 138.180271 meters # Minimum depth: 439.205881 meters looking forward 100.000000 meters along route # Maximum depth: 443.141006 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 389.205881 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.778960; longitude = -135.569092; duration = 552; # abortOnTimeout = True; initialDepth = 386.622863; finalDepth = 389.205881; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.935125 # Actual altitude: 53.935125 # Commanded vehicle depth: 389.205881 # Seafloor depth: -443.141006 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 103.741946 meters # Minimum depth: 436.622863 meters looking forward 100.000000 meters along route # Maximum depth: 439.062946 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 386.622863 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.779280; longitude = -135.565459; duration = 414; initialDepth = 384.456068; finalDepth = 386.622863; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.935125 # Actual altitude: 53.935125 # Commanded vehicle depth: 386.622863 # Seafloor depth: -439.062946 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 103.740778 meters # Minimum depth: 434.456068 meters looking forward 100.000000 meters along route # Maximum depth: 436.512409 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 384.456068 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.779520; longitude = -135.562731; duration = 414; initialDepth = 382.493914; finalDepth = 384.456068; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.440083 # Actual altitude: 52.440083 # Commanded vehicle depth: 384.456068 # Seafloor depth: -436.512409 # 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 18 # Segment length 101.785221 meters # Minimum depth: 432.493914 meters looking forward 100.000000 meters along route # Maximum depth: 434.360780 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 382.493914 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.779760; longitude = -135.560003; duration = 407; initialDepth = 382.748085; finalDepth = 382.493914; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.056341 # Actual altitude: 52.056341 # Commanded vehicle depth: 382.493914 # Seafloor depth: -434.360780 # 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; } # ####################################################### # # 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 158.300167 meters # Minimum depth: 432.748085 meters looking forward 100.000000 meters along route # Maximum depth: 435.759021 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 382.748085 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.779996; longitude = -135.557327; duration = 633; # abortOnTimeout = True; initialDepth = 385.773720; finalDepth = 382.748085; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.866866 # Actual altitude: 51.866866 # Commanded vehicle depth: 382.748085 # Seafloor depth: -432.748085 # 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 17 # Segment length 100.774628 meters # Minimum depth: 435.773720 meters looking forward 100.000000 meters along route # Maximum depth: 437.921062 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 385.773720 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.781067; longitude = -135.560154; duration = 403; initialDepth = 387.972524; finalDepth = 385.773720; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 385.77372 # Seafloor depth: -435.773720 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.773156 meters # Minimum depth: 437.972524 meters looking forward 100.000000 meters along route # Maximum depth: 440.133083 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 387.972524 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.781749; longitude = -135.561953; duration = 403; initialDepth = 390.196604; finalDepth = 387.972524; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 387.972524 # Seafloor depth: -437.972524 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.771683 meters # Minimum depth: 440.196604 meters looking forward 100.000000 meters along route # Maximum depth: 441.372117 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 390.196604 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.782431; longitude = -135.563753; duration = 403; initialDepth = 391.398730; finalDepth = 390.196604; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 390.196604 # Seafloor depth: -440.196604 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.770212 meters # Minimum depth: 441.398730 meters looking forward 100.000000 meters along route # Maximum depth: 442.126741 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 391.398730 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.783113; longitude = -135.565553; duration = 403; initialDepth = 391.598351; finalDepth = 391.398730; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 391.39873 # Seafloor depth: -441.398730 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.768739 meters # Minimum depth: 441.598351 meters looking forward 100.000000 meters along route # Maximum depth: 442.338653 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 391.598351 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.783795; longitude = -135.567352; duration = 403; initialDepth = 390.734636; finalDepth = 391.598351; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.57382 # Actual altitude: 50.57382 # Commanded vehicle depth: 391.598351 # Seafloor depth: -442.172171 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.767268 meters # Minimum depth: 440.734636 meters looking forward 100.000000 meters along route # Maximum depth: 441.656037 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 390.734636 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.784477; longitude = -135.569152; duration = 403; initialDepth = 389.280069; finalDepth = 390.734636; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.863396 # Actual altitude: 50.863396 # Commanded vehicle depth: 390.734636 # Seafloor depth: -441.598032 # 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 100.765795 meters # Minimum depth: 439.280069 meters looking forward 100.000000 meters along route # Maximum depth: 440.706459 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 389.280069 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785159; longitude = -135.570951; duration = 403; initialDepth = 388.114233; finalDepth = 389.280069; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.42639 # Actual altitude: 51.42639 # Commanded vehicle depth: 389.280069 # Seafloor depth: -440.706459 # 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 17 # Segment length 100.764323 meters # Minimum depth: 438.114233 meters looking forward 100.000000 meters along route # Maximum depth: 439.314814 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 388.114233 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785841; longitude = -135.572751; duration = 403; initialDepth = 386.308779; finalDepth = 388.114233; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.42639 # Actual altitude: 51.42639 # Commanded vehicle depth: 388.114233 # Seafloor depth: -439.255952 # 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 17 # Segment length 100.762851 meters # Minimum depth: 436.308779 meters looking forward 100.000000 meters along route # Maximum depth: 437.902676 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 386.308779 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.786523; longitude = -135.574551; duration = 403; initialDepth = 386.477320; finalDepth = 386.308779; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.593897 # Actual altitude: 51.593897 # Commanded vehicle depth: 386.308779 # Seafloor depth: -437.902676 # 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 17 # Segment length 100.761379 meters # Minimum depth: 436.477320 meters looking forward 100.000000 meters along route # Maximum depth: 437.266522 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 386.477320 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.787205; longitude = -135.576350; duration = 403; initialDepth = 387.272647; finalDepth = 386.477320; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.593897 # Actual altitude: 51.593897 # Commanded vehicle depth: 386.47732 # Seafloor depth: -436.501575 # 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 17 # Segment length 100.759907 meters # Minimum depth: 437.272647 meters looking forward 100.000000 meters along route # Maximum depth: 438.133473 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 387.272647 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.787887; longitude = -135.578150; duration = 403; initialDepth = 388.167882; finalDepth = 387.272647; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.024255 # Actual altitude: 50.024255 # Commanded vehicle depth: 387.272647 # Seafloor depth: -437.272647 # 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 17 # Segment length 100.758435 meters # Minimum depth: 438.167882 meters looking forward 100.000000 meters along route # Maximum depth: 440.522002 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 388.167882 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.788568; longitude = -135.579950; duration = 403; initialDepth = 390.588640; finalDepth = 388.167882; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 388.167882 # Seafloor depth: -438.167882 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.756964 meters # Minimum depth: 440.588640 meters looking forward 100.000000 meters along route # Maximum depth: 441.780500 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 390.588640 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.789250; longitude = -135.581749; duration = 403; initialDepth = 391.875168; finalDepth = 390.588640; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 390.58864 # Seafloor depth: -440.588640 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.755491 meters # Minimum depth: 441.875168 meters looking forward 100.000000 meters along route # Maximum depth: 444.599666 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 391.875168 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.789932; longitude = -135.583549; duration = 403; initialDepth = 394.794759; finalDepth = 391.875168; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 391.875168 # Seafloor depth: -441.875168 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.754020 meters # Minimum depth: 444.794759 meters looking forward 100.000000 meters along route # Maximum depth: 447.024362 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 394.794759 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.790614; longitude = -135.585348; duration = 403; initialDepth = 397.030017; finalDepth = 394.794759; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 394.794759 # Seafloor depth: -444.794759 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.752547 meters # Minimum depth: 447.030017 meters looking forward 100.000000 meters along route # Maximum depth: 450.818560 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 397.030017 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.791296; longitude = -135.587148; duration = 403; initialDepth = 400.877946; finalDepth = 397.030017; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 397.030017 # Seafloor depth: -447.030017 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.751077 meters # Minimum depth: 450.877946 meters looking forward 100.000000 meters along route # Maximum depth: 453.877211 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 400.877946 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.791978; longitude = -135.588948; duration = 403; initialDepth = 404.084425; finalDepth = 400.877946; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 400.877946 # Seafloor depth: -450.877946 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.749604 meters # Minimum depth: 454.084425 meters looking forward 100.000000 meters along route # Maximum depth: 457.082820 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 404.084425 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.792660; longitude = -135.590747; duration = 402; initialDepth = 407.203102; finalDepth = 404.084425; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 404.084425 # Seafloor depth: -454.084425 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.748133 meters # Minimum depth: 457.203102 meters looking forward 100.000000 meters along route # Maximum depth: 459.827961 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 407.203102 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.793342; longitude = -135.592547; duration = 402; initialDepth = 410.018359; finalDepth = 407.203102; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 407.203102 # Seafloor depth: -457.203102 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.746660 meters # Minimum depth: 460.018359 meters looking forward 100.000000 meters along route # Maximum depth: 463.166853 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 410.018359 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794024; longitude = -135.594346; duration = 402; initialDepth = 413.167305; finalDepth = 410.018359; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 410.018359 # Seafloor depth: -460.018359 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 106.879210 meters # Minimum depth: 463.167305 meters looking forward 100.000000 meters along route # Maximum depth: 466.225075 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 413.167305 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794706; longitude = -135.596146; duration = 427; initialDepth = 416.382320; finalDepth = 413.167305; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 413.167305 # Seafloor depth: -463.167305 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 106.890442 meters # Minimum depth: 466.382320 meters looking forward 100.000000 meters along route # Maximum depth: 469.127576 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 416.382320 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795429; longitude = -135.598055; duration = 427; initialDepth = 419.360246; finalDepth = 416.382320; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 416.38232 # Seafloor depth: -466.382320 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 105.206299 meters # Minimum depth: 469.360246 meters looking forward 100.000000 meters along route # Maximum depth: 471.922479 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 419.360246 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.796153; longitude = -135.599965; duration = 420; initialDepth = 421.617770; finalDepth = 419.360246; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 419.360246 # Seafloor depth: -469.360246 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; 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 84.793197 meters # Minimum depth: 471.617770 meters looking forward 100.000000 meters along route # Maximum depth: 472.074797 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 421.617770 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.796865; longitude = -135.601844; duration = 339; # abortOnTimeout = True; initialDepth = 420.201950; finalDepth = 421.617770; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.340726 # Actual altitude: 50.340726 # Commanded vehicle depth: 421.61777 # Seafloor depth: -471.958496 # 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 16 # Segment length 106.158732 meters # Minimum depth: 470.201950 meters looking forward 100.000000 meters along route # Maximum depth: 471.479001 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 420.201950 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.797364; longitude = -135.600101; duration = 424; initialDepth = 419.663057; finalDepth = 420.201950; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.277051 # Actual altitude: 51.277051 # Commanded vehicle depth: 420.20195 # Seafloor depth: -471.479001 # 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 16 # Segment length 106.156840 meters # Minimum depth: 469.663057 meters looking forward 100.000000 meters along route # Maximum depth: 470.191914 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 419.663057 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.797989; longitude = -135.597919; duration = 424; initialDepth = 418.672213; finalDepth = 419.663057; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.277051 # Actual altitude: 51.277051 # Commanded vehicle depth: 419.663057 # Seafloor depth: -470.191914 # 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 16 # Segment length 105.010213 meters # Minimum depth: 468.672213 meters looking forward 100.000000 meters along route # Maximum depth: 469.562145 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 418.672213 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.798613; longitude = -135.595737; duration = 420; initialDepth = 413.257441; finalDepth = 418.672213; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.889932 # Actual altitude: 50.889932 # Commanded vehicle depth: 418.672213 # Seafloor depth: -469.562145 # 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; } # ####################################################### # # 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 164.772383 meters # Minimum depth: 463.257441 meters looking forward 100.000000 meters along route # Maximum depth: 469.129059 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 413.257441 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.799231; longitude = -135.593578; duration = 659; # abortOnTimeout = True; initialDepth = 409.184307; finalDepth = 413.257441; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.871618 # Actual altitude: 55.871618 # Commanded vehicle depth: 413.257441 # Seafloor depth: -469.129059 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.733166 meters # Minimum depth: 459.184307 meters looking forward 100.000000 meters along route # Maximum depth: 463.160910 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 409.184307 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.798116; longitude = -135.590635; duration = 402; initialDepth = 404.496691; finalDepth = 409.184307; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.871618 # Actual altitude: 55.871618 # Commanded vehicle depth: 409.184307 # Seafloor depth: -463.160910 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.734637 meters # Minimum depth: 454.496691 meters looking forward 100.000000 meters along route # Maximum depth: 458.909207 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 404.496691 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.797434; longitude = -135.588835; duration = 402; initialDepth = 399.678950; finalDepth = 404.496691; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.412516 # Actual altitude: 54.412516 # Commanded vehicle depth: 404.496691 # Seafloor depth: -458.909207 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.832896 meters # Minimum depth: 449.678950 meters looking forward 100.000000 meters along route # Maximum depth: 454.285008 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 399.678950 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.796752; longitude = -135.587036; duration = 403; initialDepth = 394.473612; finalDepth = 399.678950; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.606058 # Actual altitude: 54.606058 # Commanded vehicle depth: 399.67895 # Seafloor depth: -454.285008 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.640793 meters # Minimum depth: 444.473612 meters looking forward 100.000000 meters along route # Maximum depth: 449.674286 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 394.473612 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.796069; longitude = -135.585235; duration = 402; initialDepth = 389.428712; finalDepth = 394.473612; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.200674 # Actual altitude: 55.200674 # Commanded vehicle depth: 394.473612 # Seafloor depth: -449.674286 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.739051 meters # Minimum depth: 439.428712 meters looking forward 100.000000 meters along route # Maximum depth: 444.403647 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 389.428712 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795388; longitude = -135.583437; duration = 402; initialDepth = 385.692250; finalDepth = 389.428712; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.200674 # Actual altitude: 55.200674 # Commanded vehicle depth: 389.428712 # Seafloor depth: -444.403647 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.740523 meters # Minimum depth: 435.692250 meters looking forward 100.000000 meters along route # Maximum depth: 439.297571 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 385.692250 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794706; longitude = -135.581638; duration = 402; initialDepth = 382.483006; finalDepth = 385.692250; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.974935 # Actual altitude: 54.974935 # Commanded vehicle depth: 385.69225 # Seafloor depth: -439.297571 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.741994 meters # Minimum depth: 432.483006 meters looking forward 100.000000 meters along route # Maximum depth: 435.642433 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 382.483006 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794024; longitude = -135.579839; duration = 402; initialDepth = 371.933435; finalDepth = 382.483006; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.605321 # Actual altitude: 53.605321 # Commanded vehicle depth: 382.483006 # Seafloor depth: -435.642433 # 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 15 # Segment length 101.105496 meters # Minimum depth: 421.933435 meters looking forward 100.000000 meters along route # Maximum depth: 432.468962 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 371.933435 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.793342; longitude = -135.578039; duration = 404; initialDepth = 369.759516; finalDepth = 371.933435; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.464618 # Actual altitude: 60.464618 # Commanded vehicle depth: 371.933435 # Seafloor depth: -432.398053 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.382907 meters # Minimum depth: 419.759516 meters looking forward 100.000000 meters along route # Maximum depth: 421.917719 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.759516 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.792658; longitude = -135.576233; duration = 401; initialDepth = 369.800151; finalDepth = 369.759516; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.464618 # Actual altitude: 60.464618 # Commanded vehicle depth: 369.759516 # Seafloor depth: -421.917719 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.746408 meters # Minimum depth: 419.800151 meters looking forward 100.000000 meters along route # Maximum depth: 420.278195 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.800151 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.791978; longitude = -135.574440; duration = 402; initialDepth = 369.497148; finalDepth = 369.800151; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.158203 # Actual altitude: 52.158203 # Commanded vehicle depth: 369.800151 # Seafloor depth: -420.278195 # 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 15 # Segment length 100.747880 meters # Minimum depth: 419.497148 meters looking forward 100.000000 meters along route # Maximum depth: 420.198009 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.497148 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.791296; longitude = -135.572641; duration = 402; initialDepth = 369.375608; finalDepth = 369.497148; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.677232 # Actual altitude: 50.677232 # Commanded vehicle depth: 369.497148 # Seafloor depth: -420.174380 # 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 15 # Segment length 100.749352 meters # Minimum depth: 419.375608 meters looking forward 100.000000 meters along route # Maximum depth: 419.771825 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.375608 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.790614; longitude = -135.570842; duration = 402; initialDepth = 369.720653; finalDepth = 369.375608; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.677232 # Actual altitude: 50.677232 # Commanded vehicle depth: 369.375608 # Seafloor depth: -419.545571 # 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 15 # Segment length 101.378135 meters # Minimum depth: 419.720653 meters looking forward 100.000000 meters along route # Maximum depth: 420.447744 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.720653 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.789932; longitude = -135.569042; duration = 405; initialDepth = 369.516843; finalDepth = 369.720653; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.169963 # Actual altitude: 50.169963 # Commanded vehicle depth: 369.720653 # Seafloor depth: -419.888768 # 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 15 # Segment length 100.124983 meters # Minimum depth: 419.516843 meters looking forward 100.000000 meters along route # Maximum depth: 420.232928 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.516843 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.789246; longitude = -135.567232; duration = 400; initialDepth = 369.253318; finalDepth = 369.516843; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.716085 # Actual altitude: 50.716085 # Commanded vehicle depth: 369.516843 # Seafloor depth: -420.232928 # 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 15 # Segment length 100.753767 meters # Minimum depth: 419.253318 meters looking forward 100.000000 meters along route # Maximum depth: 420.629023 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.253318 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.788568; longitude = -135.565444; duration = 403; initialDepth = 370.709825; finalDepth = 369.253318; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.716085 # Actual altitude: 50.716085 # Commanded vehicle depth: 369.253318 # Seafloor depth: -419.510662 # 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 15 # Segment length 100.755239 meters # Minimum depth: 420.709825 meters looking forward 100.000000 meters along route # Maximum depth: 430.436717 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 370.709825 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.787887; longitude = -135.563644; duration = 403; initialDepth = 380.655424; finalDepth = 370.709825; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.257344 # Actual altitude: 50.257344 # Commanded vehicle depth: 370.709825 # Seafloor depth: -420.709825 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.756710 meters # Minimum depth: 430.655424 meters looking forward 100.000000 meters along route # Maximum depth: 433.839230 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 380.655424 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.787205; longitude = -135.561845; duration = 403; initialDepth = 383.821837; finalDepth = 380.655424; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 380.655424 # Seafloor depth: -430.655424 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 100.758182 meters # Minimum depth: 433.821837 meters looking forward 100.000000 meters along route # Maximum depth: 434.718674 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 383.821837 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.786523; longitude = -135.560046; duration = 403; initialDepth = 384.871467; finalDepth = 383.821837; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.119763 # Actual altitude: 50.119763 # Commanded vehicle depth: 383.821837 # Seafloor depth: -433.941600 # 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 15 # Segment length 100.759653 meters # Minimum depth: 434.871467 meters looking forward 100.000000 meters along route # Maximum depth: 436.089420 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 384.871467 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785841; longitude = -135.558246; duration = 403; initialDepth = 386.095541; finalDepth = 384.871467; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.119763 # Actual altitude: 50.119763 # Commanded vehicle depth: 384.871467 # Seafloor depth: -434.871467 # 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 15 # Segment length 100.761126 meters # Minimum depth: 436.095541 meters looking forward 100.000000 meters along route # Maximum depth: 436.477653 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 386.095541 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785159; longitude = -135.556447; duration = 403; initialDepth = 386.484844; finalDepth = 386.095541; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 386.095541 # Seafloor depth: -436.095541 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 104.869482 meters # Minimum depth: 436.484844 meters looking forward 100.000000 meters along route # Maximum depth: 436.871559 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 386.484844 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.784477; longitude = -135.554648; duration = 419; initialDepth = 384.769734; finalDepth = 386.484844; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.011158 # Actual altitude: 50.011158 # Commanded vehicle depth: 386.484844 # Seafloor depth: -436.496002 # 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 15 # Segment length 106.927368 meters # Minimum depth: 434.769734 meters looking forward 100.000000 meters along route # Maximum depth: 436.688023 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 384.769734 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.783767; longitude = -135.552775; duration = 427; initialDepth = 382.812616; finalDepth = 384.769734; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.918289 # Actual altitude: 51.918289 # Commanded vehicle depth: 384.769734 # Seafloor depth: -436.688023 # 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 15 # Segment length 100.994191 meters # Minimum depth: 432.812616 meters looking forward 100.000000 meters along route # Maximum depth: 434.584739 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 382.812616 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.783043; longitude = -135.550865; duration = 403; initialDepth = 382.397450; finalDepth = 382.812616; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.918289 # Actual altitude: 51.918289 # Commanded vehicle depth: 382.812616 # Seafloor depth: -434.584739 # 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; } # ####################################################### # # 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 84.775620 meters # Minimum depth: 432.397450 meters looking forward 100.000000 meters along route # Maximum depth: 432.993960 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 382.397450 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.782360; longitude = -135.549062; duration = 339; # abortOnTimeout = True; initialDepth = 381.417720; finalDepth = 382.397450; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.772123 # Actual altitude: 51.772123 # Commanded vehicle depth: 382.39745 # Seafloor depth: -432.764511 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 106.158332 meters # Minimum depth: 431.417720 meters looking forward 100.000000 meters along route # Maximum depth: 432.380608 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 381.417720 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.782858; longitude = -135.547319; duration = 424; initialDepth = 380.244519; finalDepth = 381.417720; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.962888 # Actual altitude: 50.962888 # Commanded vehicle depth: 381.41772 # Seafloor depth: -432.380608 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 106.156440 meters # Minimum depth: 430.244519 meters looking forward 100.000000 meters along route # Maximum depth: 431.357138 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 380.244519 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.783482; longitude = -135.545137; duration = 424; initialDepth = 379.877698; finalDepth = 380.244519; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.112619 # Actual altitude: 51.112619 # Commanded vehicle depth: 380.244519 # Seafloor depth: -431.357138 # 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 14 # Segment length 105.075721 meters # Minimum depth: 429.877698 meters looking forward 100.000000 meters along route # Maximum depth: 430.184337 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 379.877698 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.784106; longitude = -135.542955; duration = 420; initialDepth = 380.002571; finalDepth = 379.877698; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.112619 # Actual altitude: 51.112619 # Commanded vehicle depth: 379.877698 # Seafloor depth: -430.184337 # 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; } # ####################################################### # # 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 164.994887 meters # Minimum depth: 430.002571 meters looking forward 100.000000 meters along route # Maximum depth: 432.749148 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 380.002571 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.784724; longitude = -135.540795; duration = 659; # abortOnTimeout = True; initialDepth = 382.845339; finalDepth = 380.002571; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.306639 # Actual altitude: 50.306639 # Commanded vehicle depth: 380.002571 # Seafloor depth: -430.002571 # 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 13 # Segment length 101.084675 meters # Minimum depth: 432.845339 meters looking forward 100.000000 meters along route # Maximum depth: 433.802784 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 382.845339 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785841; longitude = -135.543741; duration = 404; initialDepth = 382.766465; finalDepth = 382.845339; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 382.845339 # Seafloor depth: -432.845339 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.421130 meters # Minimum depth: 432.766465 meters looking forward 100.000000 meters along route # Maximum depth: 433.749052 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 382.766465 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.786525; longitude = -135.545546; duration = 401; initialDepth = 381.211925; finalDepth = 382.766465; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.935956 # Actual altitude: 50.935956 # Commanded vehicle depth: 382.766465 # Seafloor depth: -433.702421 # 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 13 # Segment length 100.750695 meters # Minimum depth: 431.211925 meters looking forward 100.000000 meters along route # Maximum depth: 432.753301 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 381.211925 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.787205; longitude = -135.547340; duration = 403; initialDepth = 377.762041; finalDepth = 381.211925; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.541376 # Actual altitude: 51.541376 # Commanded vehicle depth: 381.211925 # Seafloor depth: -432.753301 # 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 13 # Segment length 100.749224 meters # Minimum depth: 427.762041 meters looking forward 100.000000 meters along route # Maximum depth: 431.130863 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 377.762041 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.787887; longitude = -135.549139; duration = 402; initialDepth = 371.809123; finalDepth = 377.762041; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.368822 # Actual altitude: 53.368822 # Commanded vehicle depth: 377.762041 # Seafloor depth: -431.130863 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.747752 meters # Minimum depth: 421.809123 meters looking forward 100.000000 meters along route # Maximum depth: 427.524035 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 371.809123 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.788568; longitude = -135.550938; duration = 402; initialDepth = 370.714346; finalDepth = 371.809123; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.714912 # Actual altitude: 55.714912 # Commanded vehicle depth: 371.809123 # Seafloor depth: -427.524035 # 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 13 # Segment length 101.395052 meters # Minimum depth: 420.714346 meters looking forward 100.000000 meters along route # Maximum depth: 422.367837 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 370.714346 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.789250; longitude = -135.552737; duration = 405; initialDepth = 369.802659; finalDepth = 370.714346; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.714912 # Actual altitude: 55.714912 # Commanded vehicle depth: 370.714346 # Seafloor depth: -421.766512 # 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 13 # Segment length 100.096038 meters # Minimum depth: 419.802659 meters looking forward 100.000000 meters along route # Maximum depth: 420.699596 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.802659 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.789937; longitude = -135.554548; duration = 400; initialDepth = 369.173504; finalDepth = 369.802659; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.052166 # Actual altitude: 51.052166 # Commanded vehicle depth: 369.802659 # Seafloor depth: -420.699596 # 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 13 # Segment length 100.743338 meters # Minimum depth: 419.173504 meters looking forward 100.000000 meters along route # Maximum depth: 419.918661 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.173504 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.790614; longitude = -135.556335; duration = 402; initialDepth = 369.042888; finalDepth = 369.173504; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.896937 # Actual altitude: 50.896937 # Commanded vehicle depth: 369.173504 # Seafloor depth: -419.918661 # 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 13 # Segment length 100.741867 meters # Minimum depth: 419.042888 meters looking forward 100.000000 meters along route # Maximum depth: 419.175339 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.042888 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.791296; longitude = -135.558135; duration = 402; initialDepth = 368.819188; finalDepth = 369.042888; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.745157 # Actual altitude: 50.745157 # Commanded vehicle depth: 369.042888 # Seafloor depth: -419.175339 # 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 13 # Segment length 100.740395 meters # Minimum depth: 418.819188 meters looking forward 100.000000 meters along route # Maximum depth: 419.119006 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 368.819188 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.791978; longitude = -135.559934; duration = 402; initialDepth = 368.814287; finalDepth = 368.819188; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.299818 # Actual altitude: 50.299818 # Commanded vehicle depth: 368.819188 # Seafloor depth: -419.119006 # 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 13 # Segment length 100.738923 meters # Minimum depth: 418.814287 meters looking forward 100.000000 meters along route # Maximum depth: 419.058166 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 368.814287 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.792660; longitude = -135.561733; duration = 402; initialDepth = 368.775461; finalDepth = 368.814287; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.299818 # Actual altitude: 50.299818 # Commanded vehicle depth: 368.814287 # Seafloor depth: -418.887155 # 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 13 # Segment length 100.737453 meters # Minimum depth: 418.775461 meters looking forward 100.000000 meters along route # Maximum depth: 419.069423 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 368.775461 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.793342; longitude = -135.563532; duration = 402; initialDepth = 368.771314; finalDepth = 368.775461; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.293962 # Actual altitude: 50.293962 # Commanded vehicle depth: 368.775461 # Seafloor depth: -419.069423 # 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 13 # Segment length 100.735981 meters # Minimum depth: 418.771314 meters looking forward 100.000000 meters along route # Maximum depth: 419.563584 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 368.771314 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794024; longitude = -135.565331; duration = 402; initialDepth = 369.617513; finalDepth = 368.771314; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.293962 # Actual altitude: 50.293962 # Commanded vehicle depth: 368.771314 # Seafloor depth: -418.774239 # 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 13 # Segment length 100.734510 meters # Minimum depth: 419.617513 meters looking forward 100.000000 meters along route # Maximum depth: 420.783388 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.617513 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794706; longitude = -135.567130; duration = 402; initialDepth = 370.874363; finalDepth = 369.617513; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.002925 # Actual altitude: 50.002925 # Commanded vehicle depth: 369.617513 # Seafloor depth: -419.617513 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.733039 meters # Minimum depth: 420.874363 meters looking forward 100.000000 meters along route # Maximum depth: 421.736039 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 370.874363 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795388; longitude = -135.568930; duration = 402; initialDepth = 371.671369; finalDepth = 370.874363; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 370.874363 # Seafloor depth: -420.874363 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.731567 meters # Minimum depth: 421.671369 meters looking forward 100.000000 meters along route # Maximum depth: 431.197350 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 371.671369 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.796070; longitude = -135.570729; duration = 402; initialDepth = 381.583040; finalDepth = 371.671369; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 371.671369 # Seafloor depth: -421.671369 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.730097 meters # Minimum depth: 431.583040 meters looking forward 100.000000 meters along route # Maximum depth: 437.658538 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 381.583040 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.796752; longitude = -135.572528; duration = 402; initialDepth = 387.671185; finalDepth = 381.583040; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 381.58304 # Seafloor depth: -431.583040 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.728625 meters # Minimum depth: 437.671185 meters looking forward 100.000000 meters along route # Maximum depth: 443.471123 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 387.671185 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.797434; longitude = -135.574327; duration = 402; initialDepth = 393.554435; finalDepth = 387.671185; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 387.671185 # Seafloor depth: -437.671185 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.727154 meters # Minimum depth: 443.554435 meters looking forward 100.000000 meters along route # Maximum depth: 448.675921 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.554435 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.798116; longitude = -135.576126; duration = 402; initialDepth = 398.874365; finalDepth = 393.554435; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 393.554435 # Seafloor depth: -443.554435 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.725684 meters # Minimum depth: 448.874365 meters looking forward 100.000000 meters along route # Maximum depth: 453.310569 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 398.874365 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.798797; longitude = -135.577925; duration = 402; initialDepth = 403.563477; finalDepth = 398.874365; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 398.874365 # Seafloor depth: -448.874365 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 102.325905 meters # Minimum depth: 453.563477 meters looking forward 100.000000 meters along route # Maximum depth: 458.212240 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 403.563477 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.799479; longitude = -135.579725; duration = 409; initialDepth = 408.301160; finalDepth = 403.563477; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 403.563477 # Seafloor depth: -453.563477 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 106.894465 meters # Minimum depth: 458.301160 meters looking forward 100.000000 meters along route # Maximum depth: 462.650682 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 408.301160 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.800172; longitude = -135.581552; duration = 427; initialDepth = 412.990612; finalDepth = 408.301160; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 408.30116 # Seafloor depth: -458.301160 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 103.406997 meters # Minimum depth: 462.990612 meters looking forward 100.000000 meters along route # Maximum depth: 466.551993 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 412.990612 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.800896; longitude = -135.583462; duration = 413; initialDepth = 416.709783; finalDepth = 412.990612; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 412.990612 # Seafloor depth: -462.990612 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; 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 96.462979 meters # Minimum depth: 466.709783 meters looking forward 100.000000 meters along route # Maximum depth: 467.383163 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 416.709783 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.801596; longitude = -135.585309; duration = 385; # abortOnTimeout = True; initialDepth = 417.344219; finalDepth = 416.709783; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.014353 # Actual altitude: 50.014353 # Commanded vehicle depth: 416.709783 # Seafloor depth: -466.724136 # 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 12 # Segment length 100.151851 meters # Minimum depth: 467.344219 meters looking forward 100.000000 meters along route # Maximum depth: 468.742467 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 417.344219 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.802163; longitude = -135.583325; duration = 400; initialDepth = 417.838139; finalDepth = 417.344219; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.014353 # Actual altitude: 50.014353 # Commanded vehicle depth: 417.344219 # Seafloor depth: -467.344219 # 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 12 # Segment length 105.457969 meters # Minimum depth: 467.838139 meters looking forward 100.000000 meters along route # Maximum depth: 468.744813 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 417.838139 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.802753; longitude = -135.581266; duration = 421; initialDepth = 418.047048; finalDepth = 417.838139; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.906674 # Actual altitude: 50.906674 # Commanded vehicle depth: 417.838139 # Seafloor depth: -468.744813 # 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 12 # Segment length 100.102671 meters # Minimum depth: 468.047048 meters looking forward 100.000000 meters along route # Maximum depth: 468.731576 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 418.047048 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.803373; longitude = -135.579097; duration = 400; initialDepth = 415.115951; finalDepth = 418.047048; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.906674 # Actual altitude: 50.906674 # Commanded vehicle depth: 418.047048 # Seafloor depth: -468.047048 # 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; } # ####################################################### # # 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 99.432817 meters # Minimum depth: 465.115951 meters looking forward 100.000000 meters along route # Maximum depth: 468.469788 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 415.115951 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.803962; longitude = -135.577039; duration = 397; # abortOnTimeout = True; initialDepth = 411.529338; finalDepth = 415.115951; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.353837 # Actual altitude: 53.353837 # Commanded vehicle depth: 415.115951 # Seafloor depth: -468.469788 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 102.298844 meters # Minimum depth: 461.529338 meters looking forward 100.000000 meters along route # Maximum depth: 465.002929 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 411.529338 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.803298; longitude = -135.575230; duration = 409; initialDepth = 408.399067; finalDepth = 411.529338; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.473591 # Actual altitude: 53.473591 # Commanded vehicle depth: 411.529338 # Seafloor depth: -465.002929 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 102.007805 meters # Minimum depth: 458.399067 meters looking forward 100.000000 meters along route # Maximum depth: 461.525415 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 408.399067 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.802615; longitude = -135.573369; duration = 408; initialDepth = 405.228041; finalDepth = 408.399067; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.473591 # Actual altitude: 53.473591 # Commanded vehicle depth: 408.399067 # Seafloor depth: -461.525415 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 102.155646 meters # Minimum depth: 455.228041 meters looking forward 100.000000 meters along route # Maximum depth: 458.289057 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 405.228041 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.801934; longitude = -135.571514; duration = 408; initialDepth = 401.652484; finalDepth = 405.228041; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.126348 # Actual altitude: 53.126348 # Commanded vehicle depth: 405.228041 # Seafloor depth: -458.289057 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 103.239846 meters # Minimum depth: 451.652484 meters looking forward 100.000000 meters along route # Maximum depth: 455.175126 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 401.652484 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.801252; longitude = -135.569655; duration = 412; initialDepth = 398.845173; finalDepth = 401.652484; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.522642 # Actual altitude: 53.522642 # Commanded vehicle depth: 401.652484 # Seafloor depth: -455.175126 # 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 11 # Segment length 101.076089 meters # Minimum depth: 448.845173 meters looking forward 100.000000 meters along route # Maximum depth: 451.611377 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 398.845173 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.800563; longitude = -135.567777; duration = 404; initialDepth = 394.431474; finalDepth = 398.845173; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.522642 # Actual altitude: 53.522642 # Commanded vehicle depth: 398.845173 # Seafloor depth: -451.611377 # 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 11 # Segment length 102.160289 meters # Minimum depth: 444.431474 meters looking forward 100.000000 meters along route # Maximum depth: 448.674125 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 394.431474 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.799889; longitude = -135.565939; duration = 408; initialDepth = 390.303649; finalDepth = 394.431474; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.242651 # Actual altitude: 54.242651 # Commanded vehicle depth: 394.431474 # Seafloor depth: -448.674125 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 104.180932 meters # Minimum depth: 440.303649 meters looking forward 100.000000 meters along route # Maximum depth: 444.390812 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 390.303649 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.799207; longitude = -135.564081; duration = 416; initialDepth = 387.013925; finalDepth = 390.303649; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.242651 # Actual altitude: 54.242651 # Commanded vehicle depth: 390.303649 # Seafloor depth: -444.390812 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.144288 meters # Minimum depth: 437.013925 meters looking forward 100.000000 meters along route # Maximum depth: 440.215917 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 387.013925 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.798511; longitude = -135.562186; duration = 400; initialDepth = 382.978965; finalDepth = 387.013925; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.087163 # Actual altitude: 54.087163 # Commanded vehicle depth: 387.013925 # Seafloor depth: -440.215917 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 102.308911 meters # Minimum depth: 432.978965 meters looking forward 100.000000 meters along route # Maximum depth: 436.918399 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 382.978965 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.797843; longitude = -135.560364; duration = 409; initialDepth = 380.064671; finalDepth = 382.978965; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.939434 # Actual altitude: 53.939434 # Commanded vehicle depth: 382.978965 # Seafloor depth: -436.918399 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 102.022499 meters # Minimum depth: 430.064671 meters looking forward 100.000000 meters along route # Maximum depth: 432.973861 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 380.064671 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.797160; longitude = -135.558503; duration = 408; initialDepth = 375.688857; finalDepth = 380.064671; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.939434 # Actual altitude: 53.939434 # Commanded vehicle depth: 380.064671 # Seafloor depth: -432.973861 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 102.168027 meters # Minimum depth: 425.688857 meters looking forward 100.000000 meters along route # Maximum depth: 429.749262 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 375.688857 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.796479; longitude = -135.556647; duration = 408; initialDepth = 370.526655; finalDepth = 375.688857; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.060405 # Actual altitude: 54.060405 # Commanded vehicle depth: 375.688857 # Seafloor depth: -429.749262 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 103.250027 meters # Minimum depth: 420.526655 meters looking forward 100.000000 meters along route # Maximum depth: 425.654540 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 370.526655 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795797; longitude = -135.554789; duration = 413; initialDepth = 370.542650; finalDepth = 370.526655; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.127885 # Actual altitude: 55.127885 # Commanded vehicle depth: 370.526655 # Seafloor depth: -425.654540 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 101.090670 meters # Minimum depth: 420.542650 meters looking forward 100.000000 meters along route # Maximum depth: 421.003424 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 370.542650 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.795108; longitude = -135.552911; duration = 404; initialDepth = 371.089300; finalDepth = 370.542650; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.127885 # Actual altitude: 55.127885 # Commanded vehicle depth: 370.54265 # Seafloor depth: -420.542650 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 102.172670 meters # Minimum depth: 421.089300 meters looking forward 100.000000 meters along route # Maximum depth: 422.622539 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 371.089300 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.794433; longitude = -135.551073; duration = 408; initialDepth = 372.231817; finalDepth = 371.089300; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 371.0893 # Seafloor depth: -421.089300 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 104.191228 meters # Minimum depth: 422.231817 meters looking forward 100.000000 meters along route # Maximum depth: 424.795931 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 372.231817 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.793751; longitude = -135.549214; duration = 416; initialDepth = 374.838852; finalDepth = 372.231817; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.408449 # Actual altitude: 50.408449 # Commanded vehicle depth: 372.231817 # Seafloor depth: -422.640266 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.158756 meters # Minimum depth: 424.838852 meters looking forward 100.000000 meters along route # Maximum depth: 429.864304 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 374.838852 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.793056; longitude = -135.547319; duration = 400; initialDepth = 379.906364; finalDepth = 374.838852; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.408449 # Actual altitude: 50.408449 # Commanded vehicle depth: 374.838852 # Seafloor depth: -424.838852 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 102.318980 meters # Minimum depth: 429.906364 meters looking forward 100.000000 meters along route # Maximum depth: 432.059598 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 379.906364 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.792387; longitude = -135.545498; duration = 409; initialDepth = 382.062035; finalDepth = 379.906364; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 379.906364 # Seafloor depth: -429.906364 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 102.037196 meters # Minimum depth: 432.062035 meters looking forward 100.000000 meters along route # Maximum depth: 432.828078 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 382.062035 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.791704; longitude = -135.543637; duration = 408; initialDepth = 382.856711; finalDepth = 382.062035; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 382.062035 # Seafloor depth: -432.062035 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 102.180410 meters # Minimum depth: 432.856711 meters looking forward 100.000000 meters along route # Maximum depth: 434.042221 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 382.856711 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.791023; longitude = -135.541781; duration = 408; initialDepth = 384.054096; finalDepth = 382.856711; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 382.856711 # Seafloor depth: -432.856711 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 103.260210 meters # Minimum depth: 434.054096 meters looking forward 100.000000 meters along route # Maximum depth: 434.792055 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 384.054096 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.790341; longitude = -135.539923; duration = 413; initialDepth = 384.802292; finalDepth = 384.054096; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 384.054096 # Seafloor depth: -434.054096 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 101.105254 meters # Minimum depth: 434.802292 meters looking forward 100.000000 meters along route # Maximum depth: 435.328784 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 384.802292 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.789652; longitude = -135.538045; duration = 404; initialDepth = 385.266213; finalDepth = 384.802292; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 384.802292 # Seafloor depth: -434.802292 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 102.185054 meters # Minimum depth: 435.266213 meters looking forward 100.000000 meters along route # Maximum depth: 435.580481 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 385.266213 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.788978; longitude = -135.536206; duration = 408; initialDepth = 383.416336; finalDepth = 385.266213; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 385.266213 # Seafloor depth: -435.266213 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 104.201525 meters # Minimum depth: 433.416336 meters looking forward 100.000000 meters along route # Maximum depth: 435.348102 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 383.416336 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.788296; longitude = -135.534348; duration = 416; initialDepth = 380.942787; finalDepth = 383.416336; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.931766 # Actual altitude: 51.931766 # Commanded vehicle depth: 383.416336 # Seafloor depth: -435.348102 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.173228 meters # Minimum depth: 430.942787 meters looking forward 100.000000 meters along route # Maximum depth: 433.374602 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 380.942787 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.787600; longitude = -135.532453; duration = 400; initialDepth = 379.609124; finalDepth = 380.942787; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.431815 # Actual altitude: 52.431815 # Commanded vehicle depth: 380.942787 # Seafloor depth: -433.374602 # 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 11 # Segment length 102.329050 meters # Minimum depth: 429.609124 meters looking forward 100.000000 meters along route # Maximum depth: 431.230572 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 379.609124 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.786932; longitude = -135.530632; duration = 409; initialDepth = 378.334860; finalDepth = 379.609124; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.431815 # Actual altitude: 52.431815 # Commanded vehicle depth: 379.609124 # Seafloor depth: -430.904018 # 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 11 # Segment length 102.051895 meters # Minimum depth: 428.334860 meters looking forward 100.000000 meters along route # Maximum depth: 430.342675 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 378.334860 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.786249; longitude = -135.528771; duration = 408; initialDepth = 374.776380; finalDepth = 378.334860; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.007815 # Actual altitude: 52.007815 # Commanded vehicle depth: 378.33486 # Seafloor depth: -430.342675 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 102.192795 meters # Minimum depth: 424.776380 meters looking forward 100.000000 meters along route # Maximum depth: 428.228134 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 374.776380 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.785568; longitude = -135.526915; duration = 408; initialDepth = 371.251547; finalDepth = 374.776380; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.451754 # Actual altitude: 53.451754 # Commanded vehicle depth: 374.77638 # Seafloor depth: -428.228134 # 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 11 # Segment length 103.270394 meters # Minimum depth: 421.251547 meters looking forward 100.000000 meters along route # Maximum depth: 424.998252 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 371.251547 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.784886; longitude = -135.525057; duration = 413; initialDepth = 368.312892; finalDepth = 371.251547; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.746705 # Actual altitude: 53.746705 # Commanded vehicle depth: 371.251547 # Seafloor depth: -424.998252 # 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 11 # Segment length 101.119841 meters # Minimum depth: 418.312892 meters looking forward 100.000000 meters along route # Maximum depth: 421.235411 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 368.312892 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.784197; longitude = -135.523179; duration = 404; initialDepth = 365.093903; finalDepth = 368.312892; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.746705 # Actual altitude: 53.746705 # Commanded vehicle depth: 368.312892 # Seafloor depth: -421.235411 # 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 11 # Segment length 102.197440 meters # Minimum depth: 415.093903 meters looking forward 100.000000 meters along route # Maximum depth: 418.152584 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 365.093903 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.783522; longitude = -135.521340; duration = 408; initialDepth = 362.649348; finalDepth = 365.093903; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.058681 # Actual altitude: 53.058681 # Commanded vehicle depth: 365.093903 # Seafloor depth: -418.152584 # 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 11 # Segment length 104.211824 meters # Minimum depth: 412.649348 meters looking forward 100.000000 meters along route # Maximum depth: 415.078552 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 362.649348 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.782840; longitude = -135.519482; duration = 416; initialDepth = 359.902340; finalDepth = 362.649348; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.058681 # Actual altitude: 53.058681 # Commanded vehicle depth: 362.649348 # Seafloor depth: -415.078552 # 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 11 # Segment length 104.885195 meters # Minimum depth: 409.902340 meters looking forward 100.000000 meters along route # Maximum depth: 412.600786 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 359.902340 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.782145; longitude = -135.517587; duration = 419; initialDepth = 355.893390; finalDepth = 359.902340; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.698446 # Actual altitude: 52.698446 # Commanded vehicle depth: 359.90234 # Seafloor depth: -412.600786 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 157.717298 meters # Minimum depth: 405.893390 meters looking forward 100.000000 meters along route # Maximum depth: 409.836433 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 355.893390 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.781445; longitude = -135.515680; duration = 630; # abortOnTimeout = True; initialDepth = 352.962108; finalDepth = 355.893390; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.943043 # Actual altitude: 53.943043 # Commanded vehicle depth: 355.89339 # Seafloor depth: -409.836433 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.716347 meters # Minimum depth: 402.962108 meters looking forward 100.000000 meters along route # Maximum depth: 405.863708 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 352.962108 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.780658; longitude = -135.512113; duration = 406; initialDepth = 350.426001; finalDepth = 352.962108; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.943043 # Actual altitude: 53.943043 # Commanded vehicle depth: 352.962108 # Seafloor depth: -405.863708 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.529304 meters # Minimum depth: 400.426001 meters looking forward 100.000000 meters along route # Maximum depth: 402.717184 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 350.426001 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.780150; longitude = -135.509813; duration = 410; initialDepth = 347.570747; finalDepth = 350.426001; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9016 # Actual altitude: 52.9016 # Commanded vehicle depth: 350.426001 # Seafloor depth: -402.717184 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.531110 meters # Minimum depth: 397.570747 meters looking forward 100.000000 meters along route # Maximum depth: 400.227455 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 347.570747 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.779639; longitude = -135.507494; duration = 410; initialDepth = 345.690627; finalDepth = 347.570747; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.656708 # Actual altitude: 52.656708 # Commanded vehicle depth: 347.570747 # Seafloor depth: -400.227455 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.240435 meters # Minimum depth: 395.690627 meters looking forward 100.000000 meters along route # Maximum depth: 397.595413 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 345.690627 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.779127; longitude = -135.505176; duration = 412; initialDepth = 343.298026; finalDepth = 345.690627; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.656708 # Actual altitude: 52.656708 # Commanded vehicle depth: 345.690627 # Seafloor depth: -397.399494 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.827202 meters # Minimum depth: 393.298026 meters looking forward 100.000000 meters along route # Maximum depth: 395.621809 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 343.298026 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.778612; longitude = -135.502841; duration = 407; initialDepth = 341.366871; finalDepth = 343.298026; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.323783 # Actual altitude: 52.323783 # Commanded vehicle depth: 343.298026 # Seafloor depth: -395.621809 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.536528 meters # Minimum depth: 391.366871 meters looking forward 100.000000 meters along route # Maximum depth: 393.278571 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 341.366871 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.778104; longitude = -135.500539; duration = 410; initialDepth = 339.407299; finalDepth = 341.366871; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.323783 # Actual altitude: 52.323783 # Commanded vehicle depth: 341.366871 # Seafloor depth: -393.236868 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.538333 meters # Minimum depth: 389.407299 meters looking forward 100.000000 meters along route # Maximum depth: 391.168601 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 339.407299 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.777593; longitude = -135.498220; duration = 410; initialDepth = 337.919731; finalDepth = 339.407299; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.869997 # Actual altitude: 51.869997 # Commanded vehicle depth: 339.407299 # Seafloor depth: -391.168601 # 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 10 # Segment length 103.144010 meters # Minimum depth: 387.919731 meters looking forward 100.000000 meters along route # Maximum depth: 389.416487 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 337.919731 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.777081; longitude = -135.495902; duration = 412; initialDepth = 335.446681; finalDepth = 337.919731; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.761302 # Actual altitude: 51.761302 # Commanded vehicle depth: 337.919731 # Seafloor depth: -389.377290 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.938073 meters # Minimum depth: 385.446681 meters looking forward 100.000000 meters along route # Maximum depth: 387.940503 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 335.446681 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.776566; longitude = -135.493569; duration = 407; initialDepth = 333.116470; finalDepth = 335.446681; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.493822 # Actual altitude: 52.493822 # Commanded vehicle depth: 335.446681 # Seafloor depth: -387.940503 # 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 10 # Segment length 102.543750 meters # Minimum depth: 383.116470 meters looking forward 100.000000 meters along route # Maximum depth: 385.450575 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 333.116470 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.776058; longitude = -135.491264; duration = 410; initialDepth = 331.096748; finalDepth = 333.116470; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.493822 # Actual altitude: 52.493822 # Commanded vehicle depth: 333.11647 # Seafloor depth: -385.450575 # 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 10 # Segment length 102.545557 meters # Minimum depth: 381.096748 meters looking forward 100.000000 meters along route # Maximum depth: 383.130648 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 331.096748 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.775546; longitude = -135.488946; duration = 410; initialDepth = 327.934110; finalDepth = 331.096748; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.334105 # Actual altitude: 52.334105 # Commanded vehicle depth: 331.096748 # Seafloor depth: -383.130648 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.047572 meters # Minimum depth: 377.934110 meters looking forward 100.000000 meters along route # Maximum depth: 381.040989 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 327.934110 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.775035; longitude = -135.486627; duration = 412; initialDepth = 326.025673; finalDepth = 327.934110; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.106879 # Actual altitude: 53.106879 # Commanded vehicle depth: 327.93411 # Seafloor depth: -381.040989 # 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 10 # Segment length 102.048958 meters # Minimum depth: 376.025673 meters looking forward 100.000000 meters along route # Maximum depth: 377.926362 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 326.025673 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.774521; longitude = -135.484297; duration = 408; initialDepth = 324.127182; finalDepth = 326.025673; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.106879 # Actual altitude: 53.106879 # Commanded vehicle depth: 326.025673 # Seafloor depth: -377.926362 # 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 10 # Segment length 102.550974 meters # Minimum depth: 374.127182 meters looking forward 100.000000 meters along route # Maximum depth: 376.096030 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 324.127182 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.774012; longitude = -135.481990; duration = 410; initialDepth = 322.411022; finalDepth = 324.127182; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.900689 # Actual altitude: 51.900689 # Commanded vehicle depth: 324.127182 # Seafloor depth: -375.655713 # 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 10 # Segment length 102.552780 meters # Minimum depth: 372.411022 meters looking forward 100.000000 meters along route # Maximum depth: 374.899103 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 322.411022 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.773500; longitude = -135.479672; duration = 410; initialDepth = 320.312531; finalDepth = 322.411022; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.787832 # Actual altitude: 51.787832 # Commanded vehicle depth: 322.411022 # Seafloor depth: -374.198854 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.951120 meters # Minimum depth: 370.312531 meters looking forward 100.000000 meters along route # Maximum depth: 372.535884 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 320.312531 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.772988; longitude = -135.477353; duration = 411; initialDepth = 318.727816; finalDepth = 320.312531; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.223353 # Actual altitude: 52.223353 # Commanded vehicle depth: 320.312531 # Seafloor depth: -372.535884 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.159858 meters # Minimum depth: 368.727816 meters looking forward 100.000000 meters along route # Maximum depth: 370.722956 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 318.727816 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.772475; longitude = -135.475025; duration = 408; initialDepth = 317.189739; finalDepth = 318.727816; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.223353 # Actual altitude: 52.223353 # Commanded vehicle depth: 318.727816 # Seafloor depth: -370.339221 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.558199 meters # Minimum depth: 367.189739 meters looking forward 100.000000 meters along route # Maximum depth: 369.037782 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 317.189739 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.771965; longitude = -135.472716; duration = 410; initialDepth = 314.896302; finalDepth = 317.189739; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.848043 # Actual altitude: 51.848043 # Commanded vehicle depth: 317.189739 # Seafloor depth: -369.037782 # 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 10 # Segment length 102.560004 meters # Minimum depth: 364.896302 meters looking forward 100.000000 meters along route # Maximum depth: 367.233192 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 314.896302 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.771454; longitude = -135.470397; duration = 410; initialDepth = 312.285697; finalDepth = 314.896302; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.025532 # Actual altitude: 52.025532 # Commanded vehicle depth: 314.896302 # Seafloor depth: -366.921834 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.854652 meters # Minimum depth: 362.285697 meters looking forward 100.000000 meters along route # Maximum depth: 364.626890 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 312.285697 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.770942; longitude = -135.468079; duration = 411; initialDepth = 310.282192; finalDepth = 312.285697; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.310974 # Actual altitude: 52.310974 # Commanded vehicle depth: 312.285697 # Seafloor depth: -364.596671 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.270775 meters # Minimum depth: 360.282192 meters looking forward 100.000000 meters along route # Maximum depth: 362.276029 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 310.282192 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.770429; longitude = -135.465754; duration = 409; initialDepth = 308.494631; finalDepth = 310.282192; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.310974 # Actual altitude: 52.310974 # Commanded vehicle depth: 310.282192 # Seafloor depth: -362.276029 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.565422 meters # Minimum depth: 358.494631 meters looking forward 100.000000 meters along route # Maximum depth: 360.103234 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 308.494631 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.769919; longitude = -135.463442; duration = 410; initialDepth = 306.606355; finalDepth = 308.494631; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.993837 # Actual altitude: 51.993837 # Commanded vehicle depth: 308.494631 # Seafloor depth: -360.103234 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.567229 meters # Minimum depth: 356.606355 meters looking forward 100.000000 meters along route # Maximum depth: 358.245645 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 306.606355 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.769407; longitude = -135.461123; duration = 410; initialDepth = 303.136744; finalDepth = 306.606355; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.63929 # Actual altitude: 51.63929 # Commanded vehicle depth: 306.606355 # Seafloor depth: -358.245645 # 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 10 # Segment length 102.758172 meters # Minimum depth: 353.136744 meters looking forward 100.000000 meters along route # Maximum depth: 356.532563 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 303.136744 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.768896; longitude = -135.458804; duration = 411; initialDepth = 300.405650; finalDepth = 303.136744; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.395819 # Actual altitude: 53.395819 # Commanded vehicle depth: 303.136744 # Seafloor depth: -356.532563 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.381705 meters # Minimum depth: 350.405650 meters looking forward 100.000000 meters along route # Maximum depth: 353.127822 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.405650 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.768383; longitude = -135.456482; duration = 409; initialDepth = 297.640128; finalDepth = 300.405650; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.395819 # Actual altitude: 53.395819 # Commanded vehicle depth: 300.40565 # Seafloor depth: -353.127822 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.572647 meters # Minimum depth: 347.640128 meters looking forward 100.000000 meters along route # Maximum depth: 350.182444 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 297.640128 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.767873; longitude = -135.454167; duration = 410; initialDepth = 295.412023; finalDepth = 297.640128; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.722172 # Actual altitude: 52.722172 # Commanded vehicle depth: 297.640128 # Seafloor depth: -350.182444 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.574454 meters # Minimum depth: 345.412023 meters looking forward 100.000000 meters along route # Maximum depth: 347.375484 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 295.412023 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.767361; longitude = -135.451849; duration = 410; initialDepth = 292.631464; finalDepth = 295.412023; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.542316 # Actual altitude: 52.542316 # Commanded vehicle depth: 295.412023 # Seafloor depth: -347.375484 # 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 10 # Segment length 102.661676 meters # Minimum depth: 342.631464 meters looking forward 100.000000 meters along route # Maximum depth: 345.286915 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 292.631464 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.766849; longitude = -135.449530; duration = 410; initialDepth = 289.722724; finalDepth = 292.631464; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.655451 # Actual altitude: 52.655451 # Commanded vehicle depth: 292.631464 # Seafloor depth: -345.286915 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.492651 meters # Minimum depth: 339.722724 meters looking forward 100.000000 meters along route # Maximum depth: 342.626123 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 289.722724 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.766337; longitude = -135.447210; duration = 409; initialDepth = 285.264847; finalDepth = 289.722724; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.903399 # Actual altitude: 52.903399 # Commanded vehicle depth: 289.722724 # Seafloor depth: -342.626123 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.579873 meters # Minimum depth: 335.264847 meters looking forward 100.000000 meters along route # Maximum depth: 339.241342 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 285.264847 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.765826; longitude = -135.444893; duration = 410; initialDepth = 281.750945; finalDepth = 285.264847; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.9708240000001 # Actual altitude: 53.9708240000001 # Commanded vehicle depth: 285.264847 # Seafloor depth: -339.235671 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.581679 meters # Minimum depth: 331.750945 meters looking forward 100.000000 meters along route # Maximum depth: 335.043160 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 281.750945 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.765315; longitude = -135.442574; duration = 410; initialDepth = 278.587520; finalDepth = 281.750945; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.9708240000001 # Actual altitude: 53.9708240000001 # Commanded vehicle depth: 281.750945 # Seafloor depth: -335.043160 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.583486 meters # Minimum depth: 328.587520 meters looking forward 100.000000 meters along route # Maximum depth: 331.671390 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 278.587520 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.764803; longitude = -135.440256; duration = 410; initialDepth = 274.948166; finalDepth = 278.587520; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.292215 # Actual altitude: 53.292215 # Commanded vehicle depth: 278.58752 # Seafloor depth: -331.671390 # 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 10 # Segment length 102.585292 meters # Minimum depth: 324.948166 meters looking forward 100.000000 meters along route # Maximum depth: 328.586847 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 274.948166 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.764292; longitude = -135.437937; duration = 410; initialDepth = 271.977387; finalDepth = 274.948166; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.638681 # Actual altitude: 53.638681 # Commanded vehicle depth: 274.948166 # Seafloor depth: -328.586847 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.587099 meters # Minimum depth: 321.977387 meters looking forward 100.000000 meters along route # Maximum depth: 325.005599 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 271.977387 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.763780; longitude = -135.435619; duration = 410; initialDepth = 268.692351; finalDepth = 271.977387; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.638681 # Actual altitude: 53.638681 # Commanded vehicle depth: 271.977387 # Seafloor depth: -324.772141 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.588905 meters # Minimum depth: 318.692351 meters looking forward 100.000000 meters along route # Maximum depth: 321.758164 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 268.692351 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.763268; longitude = -135.433300; duration = 410; initialDepth = 263.622076; finalDepth = 268.692351; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.065813 # Actual altitude: 53.065813 # Commanded vehicle depth: 268.692351 # Seafloor depth: -321.758164 # 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 10 # Segment length 102.590712 meters # Minimum depth: 313.622076 meters looking forward 100.000000 meters along route # Maximum depth: 318.427486 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 263.622076 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.762757; longitude = -135.430982; duration = 410; initialDepth = 260.272155; finalDepth = 263.622076; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.80541 # Actual altitude: 54.80541 # Commanded vehicle depth: 263.622076 # Seafloor depth: -318.427486 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.592518 meters # Minimum depth: 310.272155 meters looking forward 100.000000 meters along route # Maximum depth: 313.615636 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 260.272155 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.762245; longitude = -135.428663; duration = 410; initialDepth = 257.012398; finalDepth = 260.272155; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.80541 # Actual altitude: 54.80541 # Commanded vehicle depth: 260.272155 # Seafloor depth: -313.615636 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.594325 meters # Minimum depth: 307.012398 meters looking forward 100.000000 meters along route # Maximum depth: 310.104732 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 257.012398 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.761734; longitude = -135.426344; duration = 410; initialDepth = 252.066956; finalDepth = 257.012398; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.343481 # Actual altitude: 53.343481 # Commanded vehicle depth: 257.012398 # Seafloor depth: -310.104732 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.596131 meters # Minimum depth: 302.066956 meters looking forward 100.000000 meters along route # Maximum depth: 306.764233 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 252.066956 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.761222; longitude = -135.424026; duration = 410; initialDepth = 248.301533; finalDepth = 252.066956; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.697277 # Actual altitude: 54.697277 # Commanded vehicle depth: 252.066956 # Seafloor depth: -306.764233 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.597938 meters # Minimum depth: 298.301533 meters looking forward 100.000000 meters along route # Maximum depth: 302.040201 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 248.301533 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.760710; longitude = -135.421707; duration = 410; initialDepth = 244.035030; finalDepth = 248.301533; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.697277 # Actual altitude: 54.697277 # Commanded vehicle depth: 248.301533 # Seafloor depth: -302.040201 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.599745 meters # Minimum depth: 294.035030 meters looking forward 100.000000 meters along route # Maximum depth: 298.293770 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 244.035030 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.760199; longitude = -135.419389; duration = 410; initialDepth = 239.770761; finalDepth = 244.035030; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.25874 # Actual altitude: 54.25874 # Commanded vehicle depth: 244.03503 # Seafloor depth: -298.293770 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.601552 meters # Minimum depth: 289.770761 meters looking forward 100.000000 meters along route # Maximum depth: 293.380975 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 239.770761 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.759687; longitude = -135.417070; duration = 410; initialDepth = 236.581198; finalDepth = 239.770761; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.25874 # Actual altitude: 54.25874 # Commanded vehicle depth: 239.770761 # Seafloor depth: -293.380975 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.603358 meters # Minimum depth: 286.581198 meters looking forward 100.000000 meters along route # Maximum depth: 289.451638 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 236.581198 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.759176; longitude = -135.414752; duration = 410; initialDepth = 233.841264; finalDepth = 236.581198; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.610214 # Actual altitude: 53.610214 # Commanded vehicle depth: 236.581198 # Seafloor depth: -289.451638 # 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 10 # Segment length 102.605165 meters # Minimum depth: 283.841264 meters looking forward 100.000000 meters along route # Maximum depth: 286.612073 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 233.841264 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.758664; longitude = -135.412433; duration = 410; initialDepth = 230.811062; finalDepth = 233.841264; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.87044 # Actual altitude: 52.87044 # Commanded vehicle depth: 233.841264 # Seafloor depth: -286.612073 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.606971 meters # Minimum depth: 280.811062 meters looking forward 100.000000 meters along route # Maximum depth: 283.876428 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 230.811062 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.758153; longitude = -135.410114; duration = 410; initialDepth = 227.802093; finalDepth = 230.811062; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.065366 # Actual altitude: 53.065366 # Commanded vehicle depth: 230.811062 # Seafloor depth: -283.876428 # 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 10 # Segment length 102.608779 meters # Minimum depth: 277.802093 meters looking forward 100.000000 meters along route # Maximum depth: 280.851311 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 227.802093 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.757641; longitude = -135.407796; duration = 410; initialDepth = 224.151354; finalDepth = 227.802093; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.065366 # Actual altitude: 53.065366 # Commanded vehicle depth: 227.802093 # Seafloor depth: -280.851311 # 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 10 # Segment length 102.610585 meters # Minimum depth: 274.151354 meters looking forward 100.000000 meters along route # Maximum depth: 277.638773 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 224.151354 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.757129; longitude = -135.405477; duration = 410; initialDepth = 219.494237; finalDepth = 224.151354; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.487419 # Actual altitude: 53.487419 # Commanded vehicle depth: 224.151354 # Seafloor depth: -277.638773 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.612392 meters # Minimum depth: 269.494237 meters looking forward 100.000000 meters along route # Maximum depth: 273.806783 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 219.494237 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.756618; longitude = -135.403159; duration = 410; initialDepth = 216.703133; finalDepth = 219.494237; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.312546 # Actual altitude: 54.312546 # Commanded vehicle depth: 219.494237 # Seafloor depth: -273.806783 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.614199 meters # Minimum depth: 266.703133 meters looking forward 100.000000 meters along route # Maximum depth: 269.467430 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 216.703133 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.756106; longitude = -135.400840; duration = 410; initialDepth = 211.984685; finalDepth = 216.703133; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.312546 # Actual altitude: 54.312546 # Commanded vehicle depth: 216.703133 # Seafloor depth: -269.467430 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.616006 meters # Minimum depth: 261.984685 meters looking forward 100.000000 meters along route # Maximum depth: 266.501967 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 211.984685 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.755595; longitude = -135.398522; duration = 410; initialDepth = 206.721734; finalDepth = 211.984685; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.517282 # Actual altitude: 54.517282 # Commanded vehicle depth: 211.984685 # Seafloor depth: -266.501967 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.617813 meters # Minimum depth: 256.721734 meters looking forward 100.000000 meters along route # Maximum depth: 261.643635 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 206.721734 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.755083; longitude = -135.396203; duration = 410; initialDepth = 200.747188; finalDepth = 206.721734; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.921901 # Actual altitude: 54.921901 # Commanded vehicle depth: 206.721734 # Seafloor depth: -261.643635 # 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 10 # Segment length 102.619620 meters # Minimum depth: 250.747188 meters looking forward 100.000000 meters along route # Maximum depth: 256.739593 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 200.747188 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.754572; longitude = -135.393884; duration = 410; initialDepth = 196.447536; finalDepth = 200.747188; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.992405 # Actual altitude: 55.992405 # Commanded vehicle depth: 200.747188 # Seafloor depth: -256.739593 # 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 10 # Segment length 102.621427 meters # Minimum depth: 246.447536 meters looking forward 100.000000 meters along route # Maximum depth: 250.722738 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 196.447536 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.754060; longitude = -135.391566; duration = 410; initialDepth = 190.452914; finalDepth = 196.447536; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.992405 # Actual altitude: 55.992405 # Commanded vehicle depth: 196.447536 # Seafloor depth: -250.722738 # 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 10 # Segment length 102.623234 meters # Minimum depth: 240.452914 meters looking forward 100.000000 meters along route # Maximum depth: 245.987103 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 190.452914 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.753548; longitude = -135.389247; duration = 410; initialDepth = 185.808769; finalDepth = 190.452914; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.534189 # Actual altitude: 55.534189 # Commanded vehicle depth: 190.452914 # Seafloor depth: -245.987103 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.625041 meters # Minimum depth: 235.808769 meters looking forward 100.000000 meters along route # Maximum depth: 240.122663 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 185.808769 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.753037; longitude = -135.386929; duration = 410; initialDepth = 180.301327; finalDepth = 185.808769; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.534189 # Actual altitude: 55.534189 # Commanded vehicle depth: 185.808769 # Seafloor depth: -240.122663 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.626847 meters # Minimum depth: 230.301327 meters looking forward 100.000000 meters along route # Maximum depth: 235.463012 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 180.301327 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.752525; longitude = -135.384610; duration = 410; initialDepth = 174.606362; finalDepth = 180.301327; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.161685 # Actual altitude: 55.161685 # Commanded vehicle depth: 180.301327 # Seafloor depth: -235.463012 # 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 10 # Segment length 102.628655 meters # Minimum depth: 224.606362 meters looking forward 100.000000 meters along route # Maximum depth: 230.263379 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 174.606362 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.752014; longitude = -135.382292; duration = 410; initialDepth = 170.201538; finalDepth = 174.606362; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.657017 # Actual altitude: 55.657017 # Commanded vehicle depth: 174.606362 # Seafloor depth: -230.263379 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.630463 meters # Minimum depth: 220.201538 meters looking forward 100.000000 meters along route # Maximum depth: 224.194397 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 170.201538 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.751502; longitude = -135.379973; duration = 410; initialDepth = 164.463850; finalDepth = 170.201538; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.657017 # Actual altitude: 55.657017 # Commanded vehicle depth: 170.201538 # Seafloor depth: -224.194397 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.632269 meters # Minimum depth: 214.463850 meters looking forward 100.000000 meters along route # Maximum depth: 220.128989 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 164.463850 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.750990; longitude = -135.377654; duration = 410; initialDepth = 159.556058; finalDepth = 164.463850; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.665139 # Actual altitude: 55.665139 # Commanded vehicle depth: 164.46385 # Seafloor depth: -220.128989 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.634076 meters # Minimum depth: 209.556058 meters looking forward 100.000000 meters along route # Maximum depth: 213.898928 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 159.556058 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.750479; longitude = -135.375336; duration = 410; initialDepth = 155.426805; finalDepth = 159.556058; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.665139 # Actual altitude: 55.665139 # Commanded vehicle depth: 159.556058 # Seafloor depth: -213.898928 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.635884 meters # Minimum depth: 205.426805 meters looking forward 100.000000 meters along route # Maximum depth: 209.494865 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 155.426805 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.749967; longitude = -135.373017; duration = 410; initialDepth = 150.093778; finalDepth = 155.426805; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.34287 # Actual altitude: 54.34287 # Commanded vehicle depth: 155.426805 # Seafloor depth: -209.494865 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.637691 meters # Minimum depth: 200.093778 meters looking forward 100.000000 meters along route # Maximum depth: 205.186671 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 150.093778 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.749456; longitude = -135.370699; duration = 410; initialDepth = 144.457949; finalDepth = 150.093778; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.092893 # Actual altitude: 55.092893 # Commanded vehicle depth: 150.093778 # Seafloor depth: -205.186671 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.639498 meters # Minimum depth: 194.457949 meters looking forward 100.000000 meters along route # Maximum depth: 199.801613 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 144.457949 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.748944; longitude = -135.368380; duration = 410; initialDepth = 139.381987; finalDepth = 144.457949; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.343664 # Actual altitude: 55.343664 # Commanded vehicle depth: 144.457949 # Seafloor depth: -199.801613 # 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 10 # Segment length 102.641305 meters # Minimum depth: 189.381987 meters looking forward 100.000000 meters along route # Maximum depth: 194.314525 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 139.381987 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.748433; longitude = -135.366061; duration = 410; initialDepth = 133.943265; finalDepth = 139.381987; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.343664 # Actual altitude: 55.343664 # Commanded vehicle depth: 139.381987 # Seafloor depth: -194.252539 # 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 10 # Segment length 102.643113 meters # Minimum depth: 183.943265 meters looking forward 100.000000 meters along route # Maximum depth: 189.319846 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 133.943265 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.747921; longitude = -135.363743; duration = 410; initialDepth = 132.679434; finalDepth = 133.943265; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.376581 # Actual altitude: 55.376581 # Commanded vehicle depth: 133.943265 # Seafloor depth: -189.319846 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.644920 meters # Minimum depth: 182.679434 meters looking forward 100.000000 meters along route # Maximum depth: 185.597927 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 132.679434 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.747409; longitude = -135.361424; duration = 410; initialDepth = 131.848725; finalDepth = 132.679434; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.376581 # Actual altitude: 55.376581 # Commanded vehicle depth: 132.679434 # Seafloor depth: -183.749109 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.646727 meters # Minimum depth: 181.848725 meters looking forward 100.000000 meters along route # Maximum depth: 186.416411 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 131.848725 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.746898; longitude = -135.359106; duration = 410; initialDepth = 130.139391; finalDepth = 131.848725; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.878571 # Actual altitude: 53.878571 # Commanded vehicle depth: 131.848725 # Seafloor depth: -185.727296 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.648535 meters # Minimum depth: 180.139391 meters looking forward 100.000000 meters along route # Maximum depth: 183.281776 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 130.139391 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.746386; longitude = -135.356787; duration = 410; initialDepth = 127.377072; finalDepth = 130.139391; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.878571 # Actual altitude: 53.878571 # Commanded vehicle depth: 130.139391 # Seafloor depth: -181.712681 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.650342 meters # Minimum depth: 177.377072 meters looking forward 100.000000 meters along route # Maximum depth: 180.526937 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 127.377072 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.745875; longitude = -135.354469; duration = 410; initialDepth = 120.911341; finalDepth = 127.377072; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.634099 # Actual altitude: 52.634099 # Commanded vehicle depth: 127.377072 # Seafloor depth: -180.011171 # 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 10 # Segment length 102.652149 meters # Minimum depth: 170.911341 meters looking forward 100.000000 meters along route # Maximum depth: 180.912287 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 120.911341 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.745363; longitude = -135.352150; duration = 410; initialDepth = 114.264043; finalDepth = 120.911341; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.918874 # Actual altitude: 59.918874 # Commanded vehicle depth: 120.911341 # Seafloor depth: -180.830215 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.95; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.844807 meters # Minimum depth: 164.264043 meters looking forward 100.000000 meters along route # Maximum depth: 170.581702 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 114.264043 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.744852; longitude = -135.349831; duration = 415; initialDepth = 113.980999; finalDepth = 114.264043; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 59.918874 # Actual altitude: 59.918874 # Commanded vehicle depth: 114.264043 # Seafloor depth: -170.542254 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.95; 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 165.381276 meters # Minimum depth: 163.980999 meters looking forward 100.000000 meters along route # Maximum depth: 165.348358 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 113.980999 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.744334; longitude = -135.347486; duration = 661; # abortOnTimeout = True; initialDepth = 113.090391; finalDepth = 113.980999; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.278211 # Actual altitude: 56.278211 # Commanded vehicle depth: 113.980999 # Seafloor depth: -163.980999 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 102.414151 meters # Minimum depth: 163.090391 meters looking forward 100.000000 meters along route # Maximum depth: 164.271423 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 113.090391 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.743152; longitude = -135.350198; duration = 409; initialDepth = 113.168844; finalDepth = 113.090391; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.995544 # Actual altitude: 50.995544 # Commanded vehicle depth: 113.090391 # Seafloor depth: -164.085935 # 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 9 # Segment length 107.445502 meters # Minimum depth: 163.168844 meters looking forward 100.000000 meters along route # Maximum depth: 167.493991 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 113.168844 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.742420; longitude = -135.351877; duration = 429; initialDepth = 115.357989; finalDepth = 113.168844; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.995544 # Actual altitude: 50.995544 # Commanded vehicle depth: 113.168844 # Seafloor depth: -163.168844 # 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 9 # Segment length 100.498459 meters # Minimum depth: 165.357989 meters looking forward 100.000000 meters along route # Maximum depth: 166.928643 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 115.357989 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.741651; longitude = -135.353639; duration = 401; initialDepth = 115.308990; finalDepth = 115.357989; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.570654 # Actual altitude: 51.570654 # Commanded vehicle depth: 115.357989 # Seafloor depth: -166.928643 # 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; } # ####################################################### # # 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 167.482470 meters # Minimum depth: 165.308990 meters looking forward 100.000000 meters along route # Maximum depth: 167.561598 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 115.308990 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.740933; longitude = -135.355287; duration = 669; # abortOnTimeout = True; initialDepth = 113.189240; finalDepth = 115.308990; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.570654 # Actual altitude: 51.570654 # Commanded vehicle depth: 115.30899 # Seafloor depth: -165.308990 # 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 8 # Segment length 100.485447 meters # Minimum depth: 163.189240 meters looking forward 100.000000 meters along route # Maximum depth: 164.446068 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 113.189240 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.742135; longitude = -135.352559; duration = 401; initialDepth = 113.875394; finalDepth = 113.189240; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.256828 # Actual altitude: 51.256828 # Commanded vehicle depth: 113.18924 # Seafloor depth: -164.446068 # 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 8 # Segment length 100.484149 meters # Minimum depth: 163.875394 meters looking forward 100.000000 meters along route # Maximum depth: 165.126245 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 113.875394 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.742856; longitude = -135.350923; duration = 401; initialDepth = 113.972740; finalDepth = 113.875394; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.256828 # Actual altitude: 51.256828 # Commanded vehicle depth: 113.875394 # Seafloor depth: -163.875394 # 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 8 # Segment length 107.560718 meters # Minimum depth: 163.972740 meters looking forward 100.000000 meters along route # Maximum depth: 165.573319 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 113.972740 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.743577; longitude = -135.349286; duration = 430; initialDepth = 107.125312; finalDepth = 113.972740; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.085761 # Actual altitude: 51.085761 # Commanded vehicle depth: 113.97274 # Seafloor depth: -165.058501 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 134.816281 meters # Minimum depth: 157.125312 meters looking forward 100.000000 meters along route # Maximum depth: 164.337933 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 107.125312 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.744349; longitude = -135.347534; duration = 539; # abortOnTimeout = True; initialDepth = 102.203424; finalDepth = 107.125312; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.212621 # Actual altitude: 57.212621 # Commanded vehicle depth: 107.125312 # Seafloor depth: -164.337933 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.222478 meters # Minimum depth: 152.203424 meters looking forward 100.000000 meters along route # Maximum depth: 157.004987 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 102.203424 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.743271; longitude = -135.345876; duration = 400; initialDepth = 100.724195; finalDepth = 102.203424; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.212621 # Actual altitude: 57.212621 # Commanded vehicle depth: 102.203424 # Seafloor depth: -157.004987 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 102.349284 meters # Minimum depth: 150.724195 meters looking forward 100.000000 meters along route # Maximum depth: 152.194340 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 100.724195 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.742470; longitude = -135.344644; duration = 409; initialDepth = 95.554374; finalDepth = 100.724195; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.801563 # Actual altitude: 54.801563 # Commanded vehicle depth: 100.724195 # Seafloor depth: -152.194340 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 108.000612 meters # Minimum depth: 145.554374 meters looking forward 100.000000 meters along route # Maximum depth: 151.279971 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 95.554374 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.741651; longitude = -135.343385; duration = 432; initialDepth = 92.464975; finalDepth = 95.554374; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.544116 # Actual altitude: 55.544116 # Commanded vehicle depth: 95.554374 # Seafloor depth: -151.098490 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 105.680011 meters # Minimum depth: 142.464975 meters looking forward 100.000000 meters along route # Maximum depth: 145.480499 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 92.464975 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.740788; longitude = -135.342057; duration = 422; initialDepth = 92.712112; finalDepth = 92.464975; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.544116 # Actual altitude: 55.544116 # Commanded vehicle depth: 92.464975 # Seafloor depth: -145.480499 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.33; 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 6 # Segment length 144.318886 meters # Minimum depth: 142.712112 meters looking forward 100.000000 meters along route # Maximum depth: 146.425512 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 92.712112 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.739943; longitude = -135.340758; duration = 577; # abortOnTimeout = True; initialDepth = 96.670943; finalDepth = 92.712112; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.015524 # Actual altitude: 53.015524 # Commanded vehicle depth: 92.712112 # Seafloor depth: -143.142593 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 100.884683 meters # Minimum depth: 146.670943 meters looking forward 100.000000 meters along route # Maximum depth: 150.587345 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 96.670943 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.740686; longitude = -135.343967; duration = 403; initialDepth = 100.628086; finalDepth = 96.670943; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.430481 # Actual altitude: 50.430481 # Commanded vehicle depth: 96.670943 # Seafloor depth: -146.670943 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 150.564111 meters # Minimum depth: 150.628086 meters looking forward 100.000000 meters along route # Maximum depth: 158.581094 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 100.628086 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.741206; longitude = -135.346210; duration = 602; # abortOnTimeout = True; initialDepth = 83.171314; finalDepth = 100.628086; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 5 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 100.628086 # Seafloor depth: -150.628086 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; 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 4 # Segment length 90.034656 meters # Minimum depth: 158.171314 meters looking forward 100.000000 meters along route # Maximum depth: 162.576060 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 83.171314 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.742020; longitude = -135.349473; duration = 360; # abortOnTimeout = True; initialDepth = 87.861253; finalDepth = 83.171314; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.483063 # Actual altitude: 75.483063 # Commanded vehicle depth: 83.171314 # Seafloor depth: -158.654377 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 105.456580 meters # Minimum depth: 162.861253 meters looking forward 100.000000 meters along route # Maximum depth: 168.717200 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 87.861253 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.742487; longitude = -135.351468; duration = 421; initialDepth = 94.516502; finalDepth = 87.861253; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 5 # Commanded altitude: 75.483063 # Actual altitude: 75.483063 # Commanded vehicle depth: 87.861253 # Seafloor depth: -162.861253 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.29; 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 3 # Segment length 168.591936 meters # Minimum depth: 169.516502 meters looking forward 100.000000 meters along route # Maximum depth: 177.337728 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 94.516502 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.743034; longitude = -135.353805; duration = 674; # abortOnTimeout = True; initialDepth = 125.906720; finalDepth = 94.516502; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 94.516502 # Seafloor depth: -169.516502 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 133.845875 meters # Minimum depth: 175.906720 meters looking forward 100.000000 meters along route # Maximum depth: 177.635384 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 125.906720 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.743915; longitude = -135.357527; duration = 535; # abortOnTimeout = True; initialDepth = 127.910469; finalDepth = 125.906720; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 125.90672 # Seafloor depth: -176.439194 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 102.674554 meters # Minimum depth: 177.910469 meters looking forward 100.000000 meters along route # Maximum depth: 181.357017 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 127.910469 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.744620; longitude = -135.360470; duration = 410; initialDepth = 127.462436; finalDepth = 127.910469; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.532474 # Actual altitude: 50.532474 # Commanded vehicle depth: 127.910469 # Seafloor depth: -177.917390 # 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 122.923703 meters # Minimum depth: 177.462436 meters looking forward 100.000000 meters along route # Maximum depth: 181.438362 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 127.462436 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.745161; longitude = -135.362727; duration = 491; # abortOnTimeout = True; initialDepth = 125.916722; finalDepth = 127.462436; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.975926 # Actual altitude: 53.975926 # Commanded vehicle depth: 127.462436 # Seafloor depth: -181.438362 # 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 1 # Segment length 103.900047 meters # Minimum depth: 175.916722 meters looking forward 100.000000 meters along route # Maximum depth: 177.452405 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 125.916722 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.744516; longitude = -135.360020; duration = 415; initialDepth = 124.375854; finalDepth = 125.916722; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.975926 # Actual altitude: 53.975926 # Commanded vehicle depth: 125.916722 # Seafloor depth: -177.452405 # 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 1 # Segment length 104.811579 meters # Minimum depth: 174.375854 meters looking forward 100.000000 meters along route # Maximum depth: 177.369999 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 124.375854 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.743970; longitude = -135.357732; duration = 419; initialDepth = 117.195206; finalDepth = 124.375854; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.929992 # Actual altitude: 51.929992 # Commanded vehicle depth: 124.375854 # Seafloor depth: -176.305846 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 105.282570 meters # Minimum depth: 167.195206 meters looking forward 100.000000 meters along route # Maximum depth: 175.091167 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 117.195206 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.743420; longitude = -135.355423; duration = 421; initialDepth = 111.396880; finalDepth = 117.195206; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.179665 # Actual altitude: 57.179665 # Commanded vehicle depth: 117.195206 # Seafloor depth: -174.374871 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 105.284473 meters # Minimum depth: 161.396880 meters looking forward 100.000000 meters along route # Maximum depth: 167.038094 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 111.396880 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.742867; longitude = -135.353105; duration = 421; initialDepth = 105.525929; finalDepth = 111.396880; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.179665 # Actual altitude: 57.179665 # Commanded vehicle depth: 111.39688 # Seafloor depth: -167.038094 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.240114 meters # Minimum depth: 155.525929 meters looking forward 100.000000 meters along route # Maximum depth: 161.294857 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 105.525929 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.742314; longitude = -135.350786; duration = 400; initialDepth = 100.990126; finalDepth = 105.525929; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.768928 # Actual altitude: 55.768928 # Commanded vehicle depth: 105.525929 # Seafloor depth: -161.294857 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 104.141065 meters # Minimum depth: 150.990126 meters looking forward 100.000000 meters along route # Maximum depth: 155.446652 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 100.990126 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.741788; longitude = -135.348579; duration = 416; initialDepth = 96.744888; finalDepth = 100.990126; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.768928 # Actual altitude: 55.768928 # Commanded vehicle depth: 100.990126 # Seafloor depth: -155.446652 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 105.290075 meters # Minimum depth: 146.744888 meters looking forward 100.000000 meters along route # Maximum depth: 150.985304 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 96.744888 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.741241; longitude = -135.346285; duration = 421; initialDepth = 92.729151; finalDepth = 96.744888; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.456526 # Actual altitude: 54.456526 # Commanded vehicle depth: 96.744888 # Seafloor depth: -150.985304 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 105.291978 meters # Minimum depth: 142.729151 meters looking forward 100.000000 meters along route # Maximum depth: 146.670162 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 92.729151 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.740688; longitude = -135.343967; duration = 421; initialDepth = 88.023946; finalDepth = 92.729151; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.240416 # Actual altitude: 54.240416 # Commanded vehicle depth: 92.729151 # Seafloor depth: -146.670162 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.925293 meters # Minimum depth: 138.023946 meters looking forward 100.000000 meters along route # Maximum depth: 143.641423 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 88.023946 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.740135; longitude = -135.341648; duration = 403; initialDepth = 85.582857; finalDepth = 88.023946; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.27446 # Actual altitude: 55.27446 # Commanded vehicle depth: 88.023946 # Seafloor depth: -143.298406 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 103.916740 meters # Minimum depth: 135.582857 meters looking forward 100.000000 meters along route # Maximum depth: 140.245924 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 85.582857 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.739606; longitude = -135.339426; duration = 415; initialDepth = 80.256738; finalDepth = 85.582857; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.27446 # Actual altitude: 55.27446 # Commanded vehicle depth: 85.582857 # Seafloor depth: -137.967979 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 104.851294 meters # Minimum depth: 130.256738 meters looking forward 100.000000 meters along route # Maximum depth: 135.545629 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 80.256738 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.739060; longitude = -135.337138; duration = 419; initialDepth = 78.404426; finalDepth = 80.256738; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.288891 # Actual altitude: 55.288891 # Commanded vehicle depth: 80.256738 # Seafloor depth: -135.545629 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 105.299484 meters # Minimum depth: 128.404426 meters looking forward 100.000000 meters along route # Maximum depth: 130.246358 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 78.404426 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.738510; longitude = -135.334829; duration = 421; initialDepth = 73.808650; finalDepth = 78.404426; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.288891 # Actual altitude: 55.288891 # Commanded vehicle depth: 78.404426 # Seafloor depth: -130.201167 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 105.301389 meters # Minimum depth: 123.808650 meters looking forward 100.000000 meters along route # Maximum depth: 128.315050 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 73.808650 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.737957; longitude = -135.332510; duration = 421; initialDepth = 68.166432; finalDepth = 73.808650; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5064 # Actual altitude: 54.5064 # Commanded vehicle depth: 73.80865 # Seafloor depth: -128.315050 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 105.303292 meters # Minimum depth: 118.166432 meters looking forward 100.000000 meters along route # Maximum depth: 126.877944 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 68.166432 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.737404; longitude = -135.330192; duration = 421; initialDepth = 60.804553; finalDepth = 68.166432; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.987551 # Actual altitude: 56.987551 # Commanded vehicle depth: 68.166432 # Seafloor depth: -125.153983 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 105.305198 meters # Minimum depth: 110.804553 meters looking forward 100.000000 meters along route # Maximum depth: 117.561524 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.804553 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.736851; longitude = -135.327873; duration = 421; initialDepth = 61.433700; finalDepth = 60.804553; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.987551 # Actual altitude: 56.987551 # Commanded vehicle depth: 60.804553 # Seafloor depth: -116.691593 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 105.307101 meters # Minimum depth: 111.433700 meters looking forward 100.000000 meters along route # Maximum depth: 113.535623 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.433700 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.736298; longitude = -135.325555; duration = 421; initialDepth = 57.518482; finalDepth = 61.433700; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.88704 # Actual altitude: 55.88704 # Commanded vehicle depth: 61.4337 # Seafloor depth: -113.535623 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 105.309007 meters # Minimum depth: 107.518482 meters looking forward 100.000000 meters along route # Maximum depth: 112.143482 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.518482 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.735746; longitude = -135.323236; duration = 421; initialDepth = 51.931798; finalDepth = 57.518482; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.178554 # Actual altitude: 54.178554 # Commanded vehicle depth: 57.518482 # Seafloor depth: -111.697036 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 105.310911 meters # Minimum depth: 101.931798 meters looking forward 100.000000 meters along route # Maximum depth: 111.203000 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 51.931798 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.735193; longitude = -135.320917; duration = 421; initialDepth = 57.521286; finalDepth = 51.931798; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.178554 # Actual altitude: 54.178554 # Commanded vehicle depth: 51.931798 # Seafloor depth: -104.488636 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 105.312815 meters # Minimum depth: 107.521286 meters looking forward 100.000000 meters along route # Maximum depth: 110.266204 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.521286 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.734640; longitude = -135.318599; duration = 421; initialDepth = 43.927941; finalDepth = 57.521286; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.744918 # Actual altitude: 52.744918 # Commanded vehicle depth: 57.521286 # Seafloor depth: -110.266204 # 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 1 # Segment length 105.314720 meters # Minimum depth: 93.927941 meters looking forward 100.000000 meters along route # Maximum depth: 107.301523 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 43.927941 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.734087; longitude = -135.316280; duration = 421; initialDepth = 44.852554; finalDepth = 43.927941; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.373582 # Actual altitude: 63.373582 # Commanded vehicle depth: 43.927941 # Seafloor depth: -107.301523 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 105.316625 meters # Minimum depth: 94.852554 meters looking forward 100.000000 meters along route # Maximum depth: 102.893465 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 44.852554 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.733535; longitude = -135.313962; duration = 421; initialDepth = 42.616313; finalDepth = 44.852554; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.373582 # Actual altitude: 63.373582 # Commanded vehicle depth: 44.852554 # Seafloor depth: -100.776086 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 103.984245 meters # Minimum depth: 92.616313 meters looking forward 100.000000 meters along route # Maximum depth: 101.310712 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 42.616313 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.732982; longitude = -135.311643; duration = 415; initialDepth = 42.616313; finalDepth = 42.616313; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 58.694399 # Actual altitude: 58.694399 # Commanded vehicle depth: 42.616313 # Seafloor depth: -101.310712 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 2; } # Set sonar parameters # Waypoint type: 3 # Commanded altitude: 58.694399 # Sonar parameter altitude: 58.694399 # Commanded vehicle depth: 42.616313 # Seafloor depth: -97.486792 # 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 = 35.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### # # Waypoint behavior to get to start of line 1 # Segment length 0.000000 meters # Minimum depth: 92.616313 meters looking forward 100.000000 meters along route # Maximum depth: 101.276718 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 446.617770 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 42.616313 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint { latitude = 70.732436; longitude = -135.309354; duration = 600; depth = 42.616313; 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 = 350.0; pitch = -35.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 350.0; 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; } # ####################################################### ####################################################### ####################################################### #######################################################