# 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: SlideHeadwallRepeat_M1V2.rte # Mission File: SlideHeadwallRepeat_M1V2.cfg # Distance: 89514.863978 (m) # Estimated Time: 60655 (s) 16.849 (hr) # Abort Time: 66300 (s) # Max battery life: 68400 (s) # Safety margin: 1800 (s) # Ascend time: 300 (s) # Way Points: 33 # Route Points: 835 # 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: 282.437936 (m) # Abort Vehicle Depth: 307.437936 (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 -136.073504 70.562986 -111.565922 0.000000 3 # 1 -136.023879 70.574340 -107.018314 2235.739890 3 # 2 -136.039817 70.582168 -135.049400 3290.278006 3 # 3 -136.089805 70.569977 -123.846617 5590.493303 3 # 4 -136.119145 70.583782 -227.552151 7476.302690 3 # 5 -136.068746 70.595457 -223.205917 9754.456186 3 # 6 -136.098826 70.609978 -274.209152 11720.655025 3 # 7 -136.146856 70.599737 -297.616791 13835.720868 3 # 8 -136.061551 70.559938 -99.549902 19287.594409 3 # 9 -136.057023 70.560894 -99.053125 19486.734176 3 # 10 -136.146131 70.602486 -307.365013 25183.182366 3 # 11 -136.141784 70.603562 -308.985382 25384.089921 3 # 12 -136.053039 70.561818 -97.748438 31086.467374 3 # 13 -136.049725 70.562587 -99.334106 31236.487798 3 # 14 -136.137514 70.604451 -305.670639 36929.349970 3 # 15 -136.134197 70.605221 -300.401688 37079.313358 3 # 16 -136.046411 70.563356 -100.480225 42772.131986 3 # 17 -136.043097 70.564125 -100.728704 42922.144707 3 # 18 -136.130879 70.605991 -299.338783 48614.898585 3 # 19 -136.127561 70.606762 -299.173065 48764.948520 3 # 20 -136.039783 70.564893 -99.912333 54457.820628 3 # 21 -136.036468 70.565662 -99.403870 54607.856120 3 # 22 -136.124242 70.607532 -297.846291 60300.663531 3 # 23 -136.120924 70.608302 -295.954597 60450.641857 3 # 24 -136.033153 70.566430 -97.169209 66143.497342 3 # 25 -136.029837 70.567199 -97.432161 66293.555602 3 # 26 -136.117605 70.609072 -289.325485 71986.367650 3 # 27 -136.114286 70.609842 -291.561836 72136.368635 3 # 28 -136.026522 70.567967 -97.450661 77829.207590 3 # 29 -136.023206 70.568735 -97.324375 77979.194433 3 # 30 -136.110967 70.610612 -293.467697 83672.081534 3 # 31 -136.107647 70.611381 -290.901436 83822.041366 3 # 32 -136.019890 70.569503 -95.738037 89514.863978 4 # # A total of 835 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 52000; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 282.437936; abortDepth = 307.437936; minAltitude = 50.000000; abortAltitude = 20.000000; deltaDepthRestart = 30.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 300; horizontalMode = rudder; horizontal = 3.000000; pitch = 45.000000; speed = 1.500000; endDepth = 2.000000; } # # Acoustic update 1 - sent status ping after end of survey # behavior acousticUpdate { duration = 2; dummy = 1; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 32 # Segment length 177.605439 meters # Minimum depth: 95.738037 meters looking forward 100.000000 meters along route # Maximum depth: 100.153239 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 45.738037 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.569503; longitude = -136.019890; duration = 710; # abortOnTimeout = True; initialDepth = 50.581100; finalDepth = 45.738037; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 45.738037 # Seafloor depth: -95.738037 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 106.202095 meters # Minimum depth: 100.581100 meters looking forward 100.000000 meters along route # Maximum depth: 104.003450 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 50.581100 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.570809; longitude = -136.022627; duration = 424; initialDepth = 54.342744; finalDepth = 50.581100; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 50.5811 # Seafloor depth: -100.581100 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 106.200765 meters # Minimum depth: 104.342744 meters looking forward 100.000000 meters along route # Maximum depth: 106.651207 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.342744 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.571590; longitude = -136.024264; duration = 424; initialDepth = 57.302265; finalDepth = 54.342744; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 54.342744 # Seafloor depth: -104.342744 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 106.199435 meters # Minimum depth: 107.302265 meters looking forward 100.000000 meters along route # Maximum depth: 110.124032 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.302265 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.572371; longitude = -136.025900; duration = 424; initialDepth = 60.016670; finalDepth = 57.302265; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 57.302265 # Seafloor depth: -107.302265 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 106.198105 meters # Minimum depth: 110.016670 meters looking forward 100.000000 meters along route # Maximum depth: 110.522693 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.016670 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.573152; longitude = -136.027537; duration = 424; initialDepth = 57.163761; finalDepth = 60.016670; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.057096 # Actual altitude: 50.057096 # Commanded vehicle depth: 60.01667 # Seafloor depth: -110.073766 # 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 32 # Segment length 106.196774 meters # Minimum depth: 107.163761 meters looking forward 100.000000 meters along route # Maximum depth: 110.988115 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.163761 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.573933; longitude = -136.029174; duration = 424; initialDepth = 60.988306; finalDepth = 57.163761; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.374424 # Actual altitude: 53.374424 # Commanded vehicle depth: 57.163761 # Seafloor depth: -110.538185 # 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 32 # Segment length 111.266837 meters # Minimum depth: 110.988306 meters looking forward 100.000000 meters along route # Maximum depth: 116.782301 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.988306 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.574714; longitude = -136.030810; duration = 445; initialDepth = 64.416759; finalDepth = 60.988306; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.374424 # Actual altitude: 53.374424 # Commanded vehicle depth: 60.988306 # Seafloor depth: -110.988306 # 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 32 # Segment length 101.122720 meters # Minimum depth: 114.416759 meters looking forward 100.000000 meters along route # Maximum depth: 115.159424 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.416759 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.575532; longitude = -136.032525; duration = 404; initialDepth = 64.914327; finalDepth = 64.416759; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.742665 # Actual altitude: 50.742665 # Commanded vehicle depth: 64.416759 # Seafloor depth: -115.159424 # 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 32 # Segment length 106.192784 meters # Minimum depth: 114.914327 meters looking forward 100.000000 meters along route # Maximum depth: 117.018984 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.914327 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.576276; longitude = -136.034083; duration = 424; initialDepth = 67.439832; finalDepth = 64.914327; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.742665 # Actual altitude: 50.742665 # Commanded vehicle depth: 64.914327 # Seafloor depth: -114.914327 # 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 32 # Segment length 106.191454 meters # Minimum depth: 117.439832 meters looking forward 100.000000 meters along route # Maximum depth: 119.259435 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 67.439832 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.577057; longitude = -136.035720; duration = 424; initialDepth = 69.722962; finalDepth = 67.439832; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 67.439832 # Seafloor depth: -117.439832 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 106.190123 meters # Minimum depth: 119.722962 meters looking forward 100.000000 meters along route # Maximum depth: 125.291589 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 69.722962 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.577838; longitude = -136.037357; duration = 424; initialDepth = 75.540208; finalDepth = 69.722962; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 69.722962 # Seafloor depth: -119.722962 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 106.188793 meters # Minimum depth: 125.540208 meters looking forward 100.000000 meters along route # Maximum depth: 131.916719 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 75.540208 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.578619; longitude = -136.038993; duration = 424; initialDepth = 78.446553; finalDepth = 75.540208; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 75.540208 # Seafloor depth: -125.540208 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 106.187463 meters # Minimum depth: 128.446553 meters looking forward 100.000000 meters along route # Maximum depth: 131.072416 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 78.446553 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.579400; longitude = -136.040630; duration = 424; initialDepth = 79.075060; finalDepth = 78.446553; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.625863 # Actual altitude: 52.625863 # Commanded vehicle depth: 78.446553 # Seafloor depth: -131.072416 # 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 32 # Segment length 109.678255 meters # Minimum depth: 129.075060 meters looking forward 100.000000 meters along route # Maximum depth: 132.699450 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 79.075060 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.580181; longitude = -136.042267; duration = 438; initialDepth = 82.869977; finalDepth = 79.075060; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.625863 # Actual altitude: 52.625863 # Commanded vehicle depth: 79.07506 # Seafloor depth: -129.075060 # 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 32 # Segment length 102.692682 meters # Minimum depth: 132.869977 meters looking forward 100.000000 meters along route # Maximum depth: 136.927377 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 82.869977 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.580988; longitude = -136.043957; duration = 410; initialDepth = 85.530728; finalDepth = 82.869977; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 82.869977 # Seafloor depth: -132.869977 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 106.183473 meters # Minimum depth: 135.530728 meters looking forward 100.000000 meters along route # Maximum depth: 139.920954 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 85.530728 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.581743; longitude = -136.045540; duration = 424; initialDepth = 89.377111; finalDepth = 85.530728; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.259986 # Actual altitude: 50.259986 # Commanded vehicle depth: 85.530728 # Seafloor depth: -135.790714 # 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 32 # Segment length 106.182144 meters # Minimum depth: 139.377111 meters looking forward 100.000000 meters along route # Maximum depth: 140.017616 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 89.377111 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.582524; longitude = -136.047177; duration = 424; initialDepth = 90.403274; finalDepth = 89.377111; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.390464 # Actual altitude: 50.390464 # Commanded vehicle depth: 89.377111 # Seafloor depth: -139.767575 # 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 32 # Segment length 106.180814 meters # Minimum depth: 140.403274 meters looking forward 100.000000 meters along route # Maximum depth: 151.180156 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 90.403274 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.583305; longitude = -136.048813; duration = 424; initialDepth = 104.379233; finalDepth = 90.403274; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.390464 # Actual altitude: 50.390464 # Commanded vehicle depth: 90.403274 # Seafloor depth: -140.403274 # 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 32 # Segment length 106.179483 meters # Minimum depth: 154.379233 meters looking forward 100.000000 meters along route # Maximum depth: 170.244921 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 104.379233 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.584086; longitude = -136.050450; duration = 424; initialDepth = 120.523789; finalDepth = 104.379233; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 104.379233 # Seafloor depth: -154.379233 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 106.178155 meters # Minimum depth: 170.523789 meters looking forward 100.000000 meters along route # Maximum depth: 171.787218 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 120.523789 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.584867; longitude = -136.052086; duration = 424; initialDepth = 122.315666; finalDepth = 120.523789; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.521622 # Actual altitude: 50.521622 # Commanded vehicle depth: 120.523789 # Seafloor depth: -171.045411 # 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 32 # Segment length 108.089950 meters # Minimum depth: 172.315666 meters looking forward 100.000000 meters along route # Maximum depth: 185.274594 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 122.315666 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.585648; longitude = -136.053723; duration = 432; initialDepth = 135.302652; finalDepth = 122.315666; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.521622 # Actual altitude: 50.521622 # Commanded vehicle depth: 122.315666 # Seafloor depth: -172.315666 # 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 32 # Segment length 104.262369 meters # Minimum depth: 185.302652 meters looking forward 100.000000 meters along route # Maximum depth: 188.389536 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 135.302652 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.586443; longitude = -136.055389; duration = 417; initialDepth = 140.303780; finalDepth = 135.302652; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 135.302652 # Seafloor depth: -185.302652 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 106.174165 meters # Minimum depth: 190.303780 meters looking forward 100.000000 meters along route # Maximum depth: 195.121262 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 140.303780 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.587210; longitude = -136.056996; duration = 424; initialDepth = 144.976277; finalDepth = 140.303780; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 140.30378 # Seafloor depth: -190.303780 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 106.172835 meters # Minimum depth: 194.976277 meters looking forward 100.000000 meters along route # Maximum depth: 199.035380 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 144.976277 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.587991; longitude = -136.058633; duration = 424; initialDepth = 148.657856; finalDepth = 144.976277; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.268322 # Actual altitude: 50.268322 # Commanded vehicle depth: 144.976277 # Seafloor depth: -195.244599 # 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 32 # Segment length 106.171506 meters # Minimum depth: 198.657856 meters looking forward 100.000000 meters along route # Maximum depth: 203.802814 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 148.657856 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.588772; longitude = -136.060270; duration = 424; initialDepth = 152.307553; finalDepth = 148.657856; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.360256 # Actual altitude: 51.360256 # Commanded vehicle depth: 148.657856 # Seafloor depth: -200.018112 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 106.170176 meters # Minimum depth: 202.307553 meters looking forward 100.000000 meters along route # Maximum depth: 204.334034 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 152.307553 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.589553; longitude = -136.061906; duration = 424; initialDepth = 152.903662; finalDepth = 152.307553; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.026481 # Actual altitude: 52.026481 # Commanded vehicle depth: 152.307553 # Seafloor depth: -204.334034 # 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 32 # Segment length 106.168847 meters # Minimum depth: 202.903662 meters looking forward 100.000000 meters along route # Maximum depth: 208.797016 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 152.903662 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.590334; longitude = -136.063543; duration = 424; initialDepth = 158.805628; finalDepth = 152.903662; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.026481 # Actual altitude: 52.026481 # Commanded vehicle depth: 152.903662 # Seafloor depth: -203.450236 # 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 32 # Segment length 106.501925 meters # Minimum depth: 208.805628 meters looking forward 100.000000 meters along route # Maximum depth: 212.784316 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 158.805628 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.591115; longitude = -136.065180; duration = 426; initialDepth = 162.789943; finalDepth = 158.805628; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.546574 # Actual altitude: 50.546574 # Commanded vehicle depth: 158.805628 # Seafloor depth: -208.812612 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 111.237679 meters # Minimum depth: 212.789943 meters looking forward 100.000000 meters along route # Maximum depth: 218.049038 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 162.789943 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.591899; longitude = -136.066821; duration = 444; initialDepth = 167.383522; finalDepth = 162.789943; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.006984 # Actual altitude: 50.006984 # Commanded vehicle depth: 162.789943 # Seafloor depth: -212.789943 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.758960 meters # Minimum depth: 217.383522 meters looking forward 100.000000 meters along route # Maximum depth: 218.548408 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 167.383522 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.592717; longitude = -136.068536; duration = 403; initialDepth = 168.294083; finalDepth = 167.383522; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.569574 # Actual altitude: 50.569574 # Commanded vehicle depth: 167.383522 # Seafloor depth: -217.953096 # 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 32 # Segment length 106.163529 meters # Minimum depth: 218.294083 meters looking forward 100.000000 meters along route # Maximum depth: 220.486137 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 168.294083 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.593458; longitude = -136.070090; duration = 424; initialDepth = 171.059301; finalDepth = 168.294083; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.720624 # Actual altitude: 50.720624 # Commanded vehicle depth: 168.294083 # Seafloor depth: -219.014707 # 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 32 # Segment length 106.162200 meters # Minimum depth: 221.059301 meters looking forward 100.000000 meters along route # Maximum depth: 225.679021 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 171.059301 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.594239; longitude = -136.071726; duration = 424; initialDepth = 175.451239; finalDepth = 171.059301; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.720624 # Actual altitude: 50.720624 # Commanded vehicle depth: 171.059301 # Seafloor depth: -221.059301 # 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 32 # Segment length 106.160870 meters # Minimum depth: 225.451239 meters looking forward 100.000000 meters along route # Maximum depth: 227.893409 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 175.451239 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.595020; longitude = -136.073363; duration = 424; initialDepth = 177.645872; finalDepth = 175.451239; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.036137 # Actual altitude: 50.036137 # Commanded vehicle depth: 175.451239 # Seafloor depth: -225.487376 # 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 32 # Segment length 106.159541 meters # Minimum depth: 227.645872 meters looking forward 100.000000 meters along route # Maximum depth: 231.547377 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 177.645872 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.595801; longitude = -136.074999; duration = 424; initialDepth = 180.926162; finalDepth = 177.645872; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.036137 # Actual altitude: 50.036137 # Commanded vehicle depth: 177.645872 # Seafloor depth: -227.645872 # 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 32 # Segment length 106.158212 meters # Minimum depth: 230.926162 meters looking forward 100.000000 meters along route # Maximum depth: 234.888162 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 180.926162 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.596582; longitude = -136.076636; duration = 424; initialDepth = 184.935514; finalDepth = 180.926162; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.428344 # Actual altitude: 50.428344 # Commanded vehicle depth: 180.926162 # Seafloor depth: -231.354506 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 109.983916 meters # Minimum depth: 234.935514 meters looking forward 100.000000 meters along route # Maximum depth: 240.194837 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 184.935514 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.597363; longitude = -136.078273; duration = 439; initialDepth = 190.406601; finalDepth = 184.935514; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.428344 # Actual altitude: 50.428344 # Commanded vehicle depth: 184.935514 # Seafloor depth: -234.935514 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 102.328521 meters # Minimum depth: 240.406601 meters looking forward 100.000000 meters along route # Maximum depth: 241.363445 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 190.406601 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.598173; longitude = -136.079968; duration = 409; initialDepth = 190.414405; finalDepth = 190.406601; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.202974 # Actual altitude: 50.202974 # Commanded vehicle depth: 190.406601 # Seafloor depth: -240.609575 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 106.154225 meters # Minimum depth: 240.414405 meters looking forward 100.000000 meters along route # Maximum depth: 244.322531 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 190.414405 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.598926; longitude = -136.081546; duration = 424; initialDepth = 194.204293; finalDepth = 190.414405; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.202974 # Actual altitude: 50.202974 # Commanded vehicle depth: 190.414405 # Seafloor depth: -240.414405 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 106.152895 meters # Minimum depth: 244.204293 meters looking forward 100.000000 meters along route # Maximum depth: 251.762414 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 194.204293 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.599707; longitude = -136.083183; duration = 424; initialDepth = 201.089698; finalDepth = 194.204293; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.89077 # Actual altitude: 50.89077 # Commanded vehicle depth: 194.204293 # Seafloor depth: -245.095063 # 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 32 # Segment length 106.151567 meters # Minimum depth: 251.089698 meters looking forward 100.000000 meters along route # Maximum depth: 256.622853 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 201.089698 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.600488; longitude = -136.084819; duration = 424; initialDepth = 204.949864; finalDepth = 201.089698; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.89077 # Actual altitude: 50.89077 # Commanded vehicle depth: 201.089698 # Seafloor depth: -251.460484 # 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 32 # Segment length 106.150237 meters # Minimum depth: 254.949864 meters looking forward 100.000000 meters along route # Maximum depth: 257.210170 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 204.949864 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.601269; longitude = -136.086456; duration = 424; initialDepth = 206.729849; finalDepth = 204.949864; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.464244 # Actual altitude: 51.464244 # Commanded vehicle depth: 204.949864 # Seafloor depth: -256.414108 # 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 32 # Segment length 106.148909 meters # Minimum depth: 256.729849 meters looking forward 100.000000 meters along route # Maximum depth: 259.293409 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 206.729849 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.602050; longitude = -136.088093; duration = 424; initialDepth = 209.333576; finalDepth = 206.729849; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.464244 # Actual altitude: 51.464244 # Commanded vehicle depth: 206.729849 # Seafloor depth: -257.086854 # 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 32 # Segment length 108.396023 meters # Minimum depth: 259.333576 meters looking forward 100.000000 meters along route # Maximum depth: 262.505873 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 209.333576 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.602831; longitude = -136.089729; duration = 433; initialDepth = 212.394479; finalDepth = 209.333576; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.357005 # Actual altitude: 50.357005 # Commanded vehicle depth: 209.333576 # Seafloor depth: -259.333576 # 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 32 # Segment length 103.897807 meters # Minimum depth: 262.394479 meters looking forward 100.000000 meters along route # Maximum depth: 264.398441 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 212.394479 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.603628; longitude = -136.091401; duration = 415; initialDepth = 213.782380; finalDepth = 212.394479; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 212.394479 # Seafloor depth: -262.394479 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 106.144922 meters # Minimum depth: 263.782380 meters looking forward 100.000000 meters along route # Maximum depth: 268.634301 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 213.782380 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.604393; longitude = -136.093002; duration = 424; initialDepth = 213.605807; finalDepth = 213.782380; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 213.78238 # Seafloor depth: -263.782380 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 106.143593 meters # Minimum depth: 263.605807 meters looking forward 100.000000 meters along route # Maximum depth: 267.215036 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 213.605807 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.605174; longitude = -136.094639; duration = 424; initialDepth = 216.764096; finalDepth = 213.605807; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.324883 # Actual altitude: 50.324883 # Commanded vehicle depth: 213.605807 # Seafloor depth: -263.930690 # 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 32 # Segment length 106.142264 meters # Minimum depth: 266.764096 meters looking forward 100.000000 meters along route # Maximum depth: 272.135878 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 216.764096 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.605955; longitude = -136.096276; duration = 424; initialDepth = 222.008703; finalDepth = 216.764096; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.324883 # Actual altitude: 50.324883 # Commanded vehicle depth: 216.764096 # Seafloor depth: -266.764096 # 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 32 # Segment length 106.140936 meters # Minimum depth: 272.008703 meters looking forward 100.000000 meters along route # Maximum depth: 275.147186 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 222.008703 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.606736; longitude = -136.097912; duration = 424; initialDepth = 221.149805; finalDepth = 222.008703; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 222.008703 # Seafloor depth: -272.008703 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 106.139607 meters # Minimum depth: 271.149805 meters looking forward 100.000000 meters along route # Maximum depth: 275.707294 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 221.149805 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.607517; longitude = -136.099549; duration = 424; initialDepth = 225.931596; finalDepth = 221.149805; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.003702 # Actual altitude: 52.003702 # Commanded vehicle depth: 221.149805 # Seafloor depth: -273.153507 # 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 32 # Segment length 106.808408 meters # Minimum depth: 275.931596 meters looking forward 100.000000 meters along route # Maximum depth: 282.620941 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 225.931596 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.608298; longitude = -136.101186; duration = 427; initialDepth = 231.546355; finalDepth = 225.931596; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.003702 # Actual altitude: 52.003702 # Commanded vehicle depth: 225.931596 # Seafloor depth: -275.931596 # 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 32 # Segment length 111.207039 meters # Minimum depth: 281.546355 meters looking forward 100.000000 meters along route # Maximum depth: 286.515166 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 231.546355 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.609084; longitude = -136.102833; duration = 444; initialDepth = 235.718316; finalDepth = 231.546355; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.127344 # Actual altitude: 51.127344 # Commanded vehicle depth: 231.546355 # Seafloor depth: -282.673699 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.395402 meters # Minimum depth: 285.718316 meters looking forward 100.000000 meters along route # Maximum depth: 286.265598 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 235.718316 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.609902; longitude = -136.104547; duration = 401; initialDepth = 237.405213; finalDepth = 235.718316; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.127344 # Actual altitude: 51.127344 # Commanded vehicle depth: 235.718316 # Seafloor depth: -286.265598 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.605784 meters # Minimum depth: 287.405213 meters looking forward 100.000000 meters along route # Maximum depth: 292.366594 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 237.405213 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.610641; longitude = -136.106096; duration = 402; initialDepth = 240.901436; finalDepth = 237.405213; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.547282 # Actual altitude: 50.547282 # Commanded vehicle depth: 237.405213 # Seafloor depth: -287.405213 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 31 # Segment length 149.959832 meters # Minimum depth: 290.901436 meters looking forward 100.000000 meters along route # Maximum depth: 295.357184 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 240.901436 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.611381; longitude = -136.107647; duration = 599; # abortOnTimeout = True; initialDepth = 237.335917; finalDepth = 240.901436; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 240.901436 # Seafloor depth: -290.901436 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; 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 174.386504 meters # Minimum depth: 287.335917 meters looking forward 100.000000 meters along route # Maximum depth: 293.467697 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 237.335917 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.610612; longitude = -136.110967; duration = 697; # abortOnTimeout = True; initialDepth = 229.259530; finalDepth = 237.335917; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.13178 # Actual altitude: 56.13178 # Commanded vehicle depth: 237.335917 # Seafloor depth: -293.467697 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 107.464919 meters # Minimum depth: 279.259530 meters looking forward 100.000000 meters along route # Maximum depth: 288.359122 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 229.259530 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.609329; longitude = -136.108278; duration = 429; initialDepth = 228.693338; finalDepth = 229.259530; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.099592 # Actual altitude: 59.099592 # Commanded vehicle depth: 229.25953 # Seafloor depth: -288.359122 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 104.802224 meters # Minimum depth: 278.693338 meters looking forward 100.000000 meters along route # Maximum depth: 283.282072 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 228.693338 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.608538; longitude = -136.106621; duration = 419; initialDepth = 226.065053; finalDepth = 228.693338; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.099592 # Actual altitude: 59.099592 # Commanded vehicle depth: 228.693338 # Seafloor depth: -279.813511 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 106.135565 meters # Minimum depth: 276.065053 meters looking forward 100.000000 meters along route # Maximum depth: 278.227312 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 226.065053 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.607767; longitude = -136.105005; duration = 424; initialDepth = 223.702095; finalDepth = 226.065053; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.162259 # Actual altitude: 52.162259 # Commanded vehicle depth: 226.065053 # Seafloor depth: -278.227312 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 106.136893 meters # Minimum depth: 273.702095 meters looking forward 100.000000 meters along route # Maximum depth: 276.426043 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 223.702095 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.606986; longitude = -136.103368; duration = 424; initialDepth = 218.965855; finalDepth = 223.702095; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.20487 # Actual altitude: 52.20487 # Commanded vehicle depth: 223.702095 # Seafloor depth: -275.906965 # 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 30 # Segment length 106.138222 meters # Minimum depth: 268.965855 meters looking forward 100.000000 meters along route # Maximum depth: 273.692610 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 218.965855 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.606205; longitude = -136.101731; duration = 424; initialDepth = 217.746380; finalDepth = 218.965855; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.966777 # Actual altitude: 53.966777 # Commanded vehicle depth: 218.965855 # Seafloor depth: -272.932632 # 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 30 # Segment length 106.139550 meters # Minimum depth: 267.746380 meters looking forward 100.000000 meters along route # Maximum depth: 268.972003 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 217.746380 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.605424; longitude = -136.100095; duration = 424; initialDepth = 214.209512; finalDepth = 217.746380; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.966777 # Actual altitude: 53.966777 # Commanded vehicle depth: 217.74638 # Seafloor depth: -268.928913 # 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 30 # Segment length 106.140879 meters # Minimum depth: 264.209512 meters looking forward 100.000000 meters along route # Maximum depth: 269.493890 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 214.209512 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.604643; longitude = -136.098458; duration = 424; initialDepth = 213.064428; finalDepth = 214.209512; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.183658 # Actual altitude: 55.183658 # Commanded vehicle depth: 214.209512 # Seafloor depth: -269.393170 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 106.142208 meters # Minimum depth: 263.064428 meters looking forward 100.000000 meters along route # Maximum depth: 265.233263 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 213.064428 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.603862; longitude = -136.096821; duration = 424; initialDepth = 212.519586; finalDepth = 213.064428; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.183658 # Actual altitude: 55.183658 # Commanded vehicle depth: 213.064428 # Seafloor depth: -265.233263 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 111.027173 meters # Minimum depth: 262.519586 meters looking forward 100.000000 meters along route # Maximum depth: 264.445170 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 212.519586 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.603081; longitude = -136.095185; duration = 444; initialDepth = 209.854513; finalDepth = 212.519586; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.168835 # Actual altitude: 52.168835 # Commanded vehicle depth: 212.519586 # Seafloor depth: -264.445170 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 101.261230 meters # Minimum depth: 259.854513 meters looking forward 100.000000 meters along route # Maximum depth: 262.407920 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 209.854513 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.602264; longitude = -136.093473; duration = 405; initialDepth = 206.833665; finalDepth = 209.854513; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.553407 # Actual altitude: 52.553407 # Commanded vehicle depth: 209.854513 # Seafloor depth: -262.407920 # 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 30 # Segment length 106.146195 meters # Minimum depth: 256.833665 meters looking forward 100.000000 meters along route # Maximum depth: 260.903323 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 206.833665 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.601519; longitude = -136.091911; duration = 424; initialDepth = 201.949535; finalDepth = 206.833665; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.518686 # Actual altitude: 53.518686 # Commanded vehicle depth: 206.833665 # Seafloor depth: -260.352351 # 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 30 # Segment length 106.147524 meters # Minimum depth: 251.949535 meters looking forward 100.000000 meters along route # Maximum depth: 257.555560 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 201.949535 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.600738; longitude = -136.090275; duration = 424; initialDepth = 199.645956; finalDepth = 201.949535; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.606025 # Actual altitude: 55.606025 # Commanded vehicle depth: 201.949535 # Seafloor depth: -257.555560 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 106.148852 meters # Minimum depth: 249.645956 meters looking forward 100.000000 meters along route # Maximum depth: 252.746810 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 199.645956 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.599957; longitude = -136.088638; duration = 424; initialDepth = 188.979654; finalDepth = 199.645956; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.606025 # Actual altitude: 55.606025 # Commanded vehicle depth: 199.645956 # Seafloor depth: -252.746810 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 106.150182 meters # Minimum depth: 238.979654 meters looking forward 100.000000 meters along route # Maximum depth: 248.119183 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 188.979654 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.599176; longitude = -136.087001; duration = 424; initialDepth = 187.997117; finalDepth = 188.979654; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.139529 # Actual altitude: 59.139529 # Commanded vehicle depth: 188.979654 # Seafloor depth: -248.119183 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 106.151511 meters # Minimum depth: 237.997117 meters looking forward 100.000000 meters along route # Maximum depth: 240.486070 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 187.997117 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.598395; longitude = -136.085365; duration = 424; initialDepth = 184.539062; finalDepth = 187.997117; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.139529 # Actual altitude: 59.139529 # Commanded vehicle depth: 187.997117 # Seafloor depth: -238.653161 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 109.510055 meters # Minimum depth: 234.539062 meters looking forward 100.000000 meters along route # Maximum depth: 237.806689 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 184.539062 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.597614; longitude = -136.083728; duration = 438; initialDepth = 182.265293; finalDepth = 184.539062; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.267627 # Actual altitude: 53.267627 # Commanded vehicle depth: 184.539062 # Seafloor depth: -237.806689 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 102.796954 meters # Minimum depth: 232.265293 meters looking forward 100.000000 meters along route # Maximum depth: 235.735989 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 182.265293 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.596809; longitude = -136.082040; duration = 411; initialDepth = 177.364374; finalDepth = 182.265293; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.470696 # Actual altitude: 53.470696 # Commanded vehicle depth: 182.265293 # Seafloor depth: -235.735989 # 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 30 # Segment length 106.155498 meters # Minimum depth: 227.364374 meters looking forward 100.000000 meters along route # Maximum depth: 233.597475 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 177.364374 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.596053; longitude = -136.080455; duration = 424; initialDepth = 177.003853; finalDepth = 177.364374; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.233101 # Actual altitude: 56.233101 # Commanded vehicle depth: 177.364374 # Seafloor depth: -233.597475 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 106.156828 meters # Minimum depth: 227.003853 meters looking forward 100.000000 meters along route # Maximum depth: 230.080713 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 177.003853 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.595272; longitude = -136.078818; duration = 424; initialDepth = 172.964347; finalDepth = 177.003853; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.233101 # Actual altitude: 56.233101 # Commanded vehicle depth: 177.003853 # Seafloor depth: -229.957605 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 106.158156 meters # Minimum depth: 222.964347 meters looking forward 100.000000 meters along route # Maximum depth: 227.716997 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 172.964347 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.594491; longitude = -136.077182; duration = 424; initialDepth = 170.733777; finalDepth = 172.964347; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.340286 # Actual altitude: 54.340286 # Commanded vehicle depth: 172.964347 # Seafloor depth: -227.304633 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 106.159486 meters # Minimum depth: 220.733777 meters looking forward 100.000000 meters along route # Maximum depth: 223.785273 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 170.733777 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.593710; longitude = -136.075545; duration = 424; initialDepth = 168.681190; finalDepth = 170.733777; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.340286 # Actual altitude: 54.340286 # Commanded vehicle depth: 170.733777 # Seafloor depth: -223.785273 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 106.160816 meters # Minimum depth: 218.681190 meters looking forward 100.000000 meters along route # Maximum depth: 220.668793 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 168.681190 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.592929; longitude = -136.073908; duration = 424; initialDepth = 164.097670; finalDepth = 168.681190; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.051496 # Actual altitude: 53.051496 # Commanded vehicle depth: 168.68119 # Seafloor depth: -220.448121 # 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 30 # Segment length 107.992673 meters # Minimum depth: 214.097670 meters looking forward 100.000000 meters along route # Maximum depth: 218.369745 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 164.097670 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.592148; longitude = -136.072272; duration = 431; initialDepth = 159.654469; finalDepth = 164.097670; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.116071 # Actual altitude: 54.116071 # Commanded vehicle depth: 164.09767 # Seafloor depth: -218.213741 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 104.332946 meters # Minimum depth: 209.654469 meters looking forward 100.000000 meters along route # Maximum depth: 213.928295 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 159.654469 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.591353; longitude = -136.070607; duration = 417; initialDepth = 155.803877; finalDepth = 159.654469; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.273826 # Actual altitude: 54.273826 # Commanded vehicle depth: 159.654469 # Seafloor depth: -213.928295 # 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 30 # Segment length 106.164803 meters # Minimum depth: 205.803877 meters looking forward 100.000000 meters along route # Maximum depth: 209.051678 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 155.803877 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.590586; longitude = -136.068998; duration = 424; initialDepth = 155.223691; finalDepth = 155.803877; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.273826 # Actual altitude: 54.273826 # Commanded vehicle depth: 155.803877 # Seafloor depth: -205.918123 # 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 30 # Segment length 106.166133 meters # Minimum depth: 205.223691 meters looking forward 100.000000 meters along route # Maximum depth: 207.641166 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 155.223691 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.589805; longitude = -136.067362; duration = 424; initialDepth = 151.468036; finalDepth = 155.223691; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.125497 # Actual altitude: 52.125497 # Commanded vehicle depth: 155.223691 # Seafloor depth: -207.349188 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 106.167463 meters # Minimum depth: 201.468036 meters looking forward 100.000000 meters along route # Maximum depth: 203.686908 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 151.468036 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.589024; longitude = -136.065725; duration = 424; initialDepth = 143.935197; finalDepth = 151.468036; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.218872 # Actual altitude: 52.218872 # Commanded vehicle depth: 151.468036 # Seafloor depth: -203.686908 # 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 30 # Segment length 106.168792 meters # Minimum depth: 193.935197 meters looking forward 100.000000 meters along route # Maximum depth: 202.553380 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 143.935197 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.588243; longitude = -136.064089; duration = 424; initialDepth = 143.363998; finalDepth = 143.935197; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.618183 # Actual altitude: 58.618183 # Commanded vehicle depth: 143.935197 # Seafloor depth: -202.553380 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 106.170122 meters # Minimum depth: 193.363998 meters looking forward 100.000000 meters along route # Maximum depth: 194.808029 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 143.363998 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.587462; longitude = -136.062452; duration = 424; initialDepth = 134.315479; finalDepth = 143.363998; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.618183 # Actual altitude: 58.618183 # Commanded vehicle depth: 143.363998 # Seafloor depth: -193.938710 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 106.475024 meters # Minimum depth: 184.315479 meters looking forward 100.000000 meters along route # Maximum depth: 194.507325 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 134.315479 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.586681; longitude = -136.060815; duration = 425; initialDepth = 128.769683; finalDepth = 134.315479; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.191846 # Actual altitude: 60.191846 # Commanded vehicle depth: 134.315479 # Seafloor depth: -194.507325 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 111.252389 meters # Minimum depth: 178.769683 meters looking forward 100.000000 meters along route # Maximum depth: 184.294643 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 128.769683 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.585898; longitude = -136.059174; duration = 445; initialDepth = 118.472339; finalDepth = 128.769683; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.191846 # Actual altitude: 60.191846 # Commanded vehicle depth: 128.769683 # Seafloor depth: -184.294643 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.790930 meters # Minimum depth: 168.472339 meters looking forward 100.000000 meters along route # Maximum depth: 178.858175 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 118.472339 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.585080; longitude = -136.057459; duration = 403; initialDepth = 108.257191; finalDepth = 118.472339; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.23806 # Actual altitude: 60.23806 # Commanded vehicle depth: 118.472339 # Seafloor depth: -178.710399 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 106.175440 meters # Minimum depth: 158.257191 meters looking forward 100.000000 meters along route # Maximum depth: 163.765529 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 108.257191 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.584338; longitude = -136.055905; duration = 424; initialDepth = 95.458309; finalDepth = 108.257191; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.23806 # Actual altitude: 60.23806 # Commanded vehicle depth: 108.257191 # Seafloor depth: -163.765529 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 106.176770 meters # Minimum depth: 145.458309 meters looking forward 100.000000 meters along route # Maximum depth: 161.753969 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 95.458309 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.583557; longitude = -136.054269; duration = 424; initialDepth = 89.314403; finalDepth = 95.458309; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.234938 # Actual altitude: 65.234938 # Commanded vehicle depth: 95.458309 # Seafloor depth: -160.693247 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 106.178100 meters # Minimum depth: 139.314403 meters looking forward 100.000000 meters along route # Maximum depth: 142.870255 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 89.314403 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.582776; longitude = -136.052632; duration = 424; initialDepth = 85.722621; finalDepth = 89.314403; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.234938 # Actual altitude: 65.234938 # Commanded vehicle depth: 89.314403 # Seafloor depth: -142.870255 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 106.179430 meters # Minimum depth: 135.722621 meters looking forward 100.000000 meters along route # Maximum depth: 139.171024 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 85.722621 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.581995; longitude = -136.050995; duration = 424; initialDepth = 82.492441; finalDepth = 85.722621; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.555852 # Actual altitude: 53.555852 # Commanded vehicle depth: 85.722621 # Seafloor depth: -139.171024 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 106.180760 meters # Minimum depth: 132.492441 meters looking forward 100.000000 meters along route # Maximum depth: 136.206769 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 82.492441 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.581214; longitude = -136.049359; duration = 424; initialDepth = 81.197320; finalDepth = 82.492441; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.448403 # Actual altitude: 53.448403 # Commanded vehicle depth: 82.492441 # Seafloor depth: -135.680996 # 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 30 # Segment length 110.038473 meters # Minimum depth: 131.197320 meters looking forward 100.000000 meters along route # Maximum depth: 132.444000 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 81.197320 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.580433; longitude = -136.047722; duration = 440; initialDepth = 78.665104; finalDepth = 81.197320; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.188555 # Actual altitude: 53.188555 # Commanded vehicle depth: 81.19732 # Seafloor depth: -132.444000 # 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 30 # Segment length 102.327036 meters # Minimum depth: 128.665104 meters looking forward 100.000000 meters along route # Maximum depth: 131.802020 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 78.665104 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.579624; longitude = -136.046026; duration = 409; initialDepth = 78.977301; finalDepth = 78.665104; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.136916 # Actual altitude: 53.136916 # Commanded vehicle depth: 78.665104 # Seafloor depth: -131.802020 # 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 30 # Segment length 106.184750 meters # Minimum depth: 128.977301 meters looking forward 100.000000 meters along route # Maximum depth: 132.660668 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 78.977301 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.578871; longitude = -136.044449; duration = 424; initialDepth = 71.520381; finalDepth = 78.977301; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.136916 # Actual altitude: 53.136916 # Commanded vehicle depth: 78.977301 # Seafloor depth: -128.977301 # 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 30 # Segment length 106.186080 meters # Minimum depth: 121.520381 meters looking forward 100.000000 meters along route # Maximum depth: 128.035480 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 71.520381 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.578091; longitude = -136.042812; duration = 424; initialDepth = 66.352740; finalDepth = 71.520381; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.515099 # Actual altitude: 56.515099 # Commanded vehicle depth: 71.520381 # Seafloor depth: -128.035480 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 106.187409 meters # Minimum depth: 116.352740 meters looking forward 100.000000 meters along route # Maximum depth: 119.977556 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.352740 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.577310; longitude = -136.041176; duration = 424; initialDepth = 64.463815; finalDepth = 66.352740; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.515099 # Actual altitude: 56.515099 # Commanded vehicle depth: 66.35274 # Seafloor depth: -119.977556 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 106.188740 meters # Minimum depth: 114.463815 meters looking forward 100.000000 meters along route # Maximum depth: 116.011967 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.463815 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.576529; longitude = -136.039539; duration = 424; initialDepth = 64.476657; finalDepth = 64.463815; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.624816 # Actual altitude: 53.624816 # Commanded vehicle depth: 64.463815 # Seafloor depth: -116.011967 # 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 30 # Segment length 106.190070 meters # Minimum depth: 114.476657 meters looking forward 100.000000 meters along route # Maximum depth: 115.762311 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.476657 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.575748; longitude = -136.037902; duration = 424; initialDepth = 65.807336; finalDepth = 64.476657; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.548152 # Actual altitude: 51.548152 # Commanded vehicle depth: 64.476657 # Seafloor depth: -114.476657 # 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 30 # Segment length 108.520719 meters # Minimum depth: 115.807336 meters looking forward 100.000000 meters along route # Maximum depth: 117.802698 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.807336 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.574967; longitude = -136.036266; duration = 434; initialDepth = 57.296151; finalDepth = 65.807336; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 65.807336 # Seafloor depth: -115.807336 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 103.863412 meters # Minimum depth: 107.296151 meters looking forward 100.000000 meters along route # Maximum depth: 116.765202 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.296151 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.574169; longitude = -136.034593; duration = 415; initialDepth = 60.482851; finalDepth = 57.296151; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.469051 # Actual altitude: 59.469051 # Commanded vehicle depth: 57.296151 # Seafloor depth: -116.765202 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 106.194060 meters # Minimum depth: 110.482851 meters looking forward 100.000000 meters along route # Maximum depth: 111.770663 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.482851 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.573405; longitude = -136.032992; duration = 424; initialDepth = 58.747113; finalDepth = 60.482851; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.469051 # Actual altitude: 59.469051 # Commanded vehicle depth: 60.482851 # Seafloor depth: -110.482851 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 106.195391 meters # Minimum depth: 108.747113 meters looking forward 100.000000 meters along route # Maximum depth: 111.044849 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.747113 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.572624; longitude = -136.031356; duration = 424; initialDepth = 56.359226; finalDepth = 58.747113; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.297736 # Actual altitude: 52.297736 # Commanded vehicle depth: 58.747113 # Seafloor depth: -111.044849 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 106.196721 meters # Minimum depth: 106.359226 meters looking forward 100.000000 meters along route # Maximum depth: 108.205807 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.359226 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.571843; longitude = -136.029719; duration = 424; initialDepth = 52.548763; finalDepth = 56.359226; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.297736 # Actual altitude: 52.297736 # Commanded vehicle depth: 56.359226 # Seafloor depth: -108.205807 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 106.198052 meters # Minimum depth: 102.548763 meters looking forward 100.000000 meters along route # Maximum depth: 105.969183 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.548763 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.571062; longitude = -136.028082; duration = 424; initialDepth = 49.134229; finalDepth = 52.548763; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.42042 # Actual altitude: 53.42042 # Commanded vehicle depth: 52.548763 # Seafloor depth: -105.969183 # 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 30 # Segment length 106.199382 meters # Minimum depth: 99.134229 meters looking forward 100.000000 meters along route # Maximum depth: 102.189360 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 49.134229 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.570281; longitude = -136.026446; duration = 424; initialDepth = 47.348572; finalDepth = 49.134229; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.42042 # Actual altitude: 53.42042 # Commanded vehicle depth: 49.134229 # Seafloor depth: -102.189360 # 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 30 # Segment length 104.027607 meters # Minimum depth: 97.348572 meters looking forward 100.000000 meters along route # Maximum depth: 99.027072 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 47.348572 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.569500; longitude = -136.024809; duration = 416; initialDepth = 46.895928; finalDepth = 47.348572; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.055131 # Actual altitude: 53.055131 # Commanded vehicle depth: 47.348572 # Seafloor depth: -99.027072 # 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; } # ####################################################### # # 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 149.986843 meters # Minimum depth: 96.895928 meters looking forward 100.000000 meters along route # Maximum depth: 97.433407 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 46.895928 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.568735; longitude = -136.023206; duration = 599; # abortOnTimeout = True; initialDepth = 47.450661; finalDepth = 46.895928; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.6785 # Actual altitude: 51.6785 # Commanded vehicle depth: 46.895928 # Seafloor depth: -97.324375 # 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; } # ####################################################### # # 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 175.657513 meters # Minimum depth: 97.450661 meters looking forward 100.000000 meters along route # Maximum depth: 101.644174 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 47.450661 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.567967; longitude = -136.026522; duration = 702; # abortOnTimeout = True; initialDepth = 51.731387; finalDepth = 47.450661; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.428447 # Actual altitude: 50.428447 # Commanded vehicle depth: 47.450661 # Seafloor depth: -97.450661 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 102.584484 meters # Minimum depth: 101.731387 meters looking forward 100.000000 meters along route # Maximum depth: 104.616502 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 51.731387 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.569259; longitude = -136.029229; duration = 410; initialDepth = 55.275437; finalDepth = 51.731387; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 51.731387 # Seafloor depth: -101.731387 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 106.192673 meters # Minimum depth: 105.275437 meters looking forward 100.000000 meters along route # Maximum depth: 107.681612 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.275437 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.570013; longitude = -136.030810; duration = 424; initialDepth = 58.094807; finalDepth = 55.275437; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 55.275437 # Seafloor depth: -105.275437 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 106.191343 meters # Minimum depth: 108.094807 meters looking forward 100.000000 meters along route # Maximum depth: 112.006296 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.094807 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.570794; longitude = -136.032447; duration = 424; initialDepth = 62.067312; finalDepth = 58.094807; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 58.094807 # Seafloor depth: -108.094807 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 106.190013 meters # Minimum depth: 112.067312 meters looking forward 100.000000 meters along route # Maximum depth: 113.518294 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.067312 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.571575; longitude = -136.034083; duration = 424; initialDepth = 61.780678; finalDepth = 62.067312; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.965235 # Actual altitude: 50.965235 # Commanded vehicle depth: 62.067312 # Seafloor depth: -113.032547 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 106.188682 meters # Minimum depth: 111.780678 meters looking forward 100.000000 meters along route # Maximum depth: 116.141473 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.780678 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.572356; longitude = -136.035720; duration = 424; initialDepth = 65.552189; finalDepth = 61.780678; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.965235 # Actual altitude: 50.965235 # Commanded vehicle depth: 61.780678 # Seafloor depth: -112.545001 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 106.187352 meters # Minimum depth: 115.552189 meters looking forward 100.000000 meters along route # Maximum depth: 119.393509 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.552189 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.573137; longitude = -136.037357; duration = 424; initialDepth = 68.451325; finalDepth = 65.552189; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.764323 # Actual altitude: 50.764323 # Commanded vehicle depth: 65.552189 # Seafloor depth: -115.552189 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 108.328705 meters # Minimum depth: 118.451325 meters looking forward 100.000000 meters along route # Maximum depth: 119.694142 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 68.451325 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.573917; longitude = -136.038993; duration = 433; initialDepth = 67.718890; finalDepth = 68.451325; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.848721 # Actual altitude: 50.848721 # Commanded vehicle depth: 68.451325 # Seafloor depth: -119.300046 # 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 28 # Segment length 104.042009 meters # Minimum depth: 117.718890 meters looking forward 100.000000 meters along route # Maximum depth: 119.733849 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 67.718890 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.574714; longitude = -136.040663; duration = 416; initialDepth = 66.642170; finalDepth = 67.718890; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.014959 # Actual altitude: 52.014959 # Commanded vehicle depth: 67.71889 # Seafloor depth: -119.733849 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 106.183362 meters # Minimum depth: 116.642170 meters looking forward 100.000000 meters along route # Maximum depth: 117.508067 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.642170 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.575479; longitude = -136.042267; duration = 424; initialDepth = 68.058271; finalDepth = 66.642170; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.014959 # Actual altitude: 52.014959 # Commanded vehicle depth: 66.64217 # Seafloor depth: -116.993013 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 106.182031 meters # Minimum depth: 118.058271 meters looking forward 100.000000 meters along route # Maximum depth: 124.412468 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 68.058271 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.576260; longitude = -136.043903; duration = 424; initialDepth = 75.263002; finalDepth = 68.058271; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.350843 # Actual altitude: 50.350843 # Commanded vehicle depth: 68.058271 # Seafloor depth: -118.058271 # 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 28 # Segment length 106.180702 meters # Minimum depth: 125.263002 meters looking forward 100.000000 meters along route # Maximum depth: 126.731696 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 75.263002 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.577041; longitude = -136.045540; duration = 424; initialDepth = 77.036485; finalDepth = 75.263002; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 75.263002 # Seafloor depth: -125.263002 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 106.179372 meters # Minimum depth: 127.036485 meters looking forward 100.000000 meters along route # Maximum depth: 129.680688 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 77.036485 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.577822; longitude = -136.047177; duration = 424; initialDepth = 79.898486; finalDepth = 77.036485; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 77.036485 # Seafloor depth: -127.036485 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 106.178041 meters # Minimum depth: 129.898486 meters looking forward 100.000000 meters along route # Maximum depth: 131.886866 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 79.898486 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.578603; longitude = -136.048813; duration = 424; initialDepth = 81.898618; finalDepth = 79.898486; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 79.898486 # Seafloor depth: -129.898486 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 106.852816 meters # Minimum depth: 131.898618 meters looking forward 100.000000 meters along route # Maximum depth: 134.003766 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 81.898618 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.579384; longitude = -136.050450; duration = 427; initialDepth = 84.026793; finalDepth = 81.898618; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 81.898618 # Seafloor depth: -131.898618 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 111.264151 meters # Minimum depth: 134.026793 meters looking forward 100.000000 meters along route # Maximum depth: 137.820956 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 84.026793 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.580170; longitude = -136.052097; duration = 445; initialDepth = 87.057532; finalDepth = 84.026793; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 84.026793 # Seafloor depth: -134.026793 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.409179 meters # Minimum depth: 137.057532 meters looking forward 100.000000 meters along route # Maximum depth: 139.132202 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 87.057532 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.580988; longitude = -136.053812; duration = 401; initialDepth = 89.820594; finalDepth = 87.057532; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 87.057532 # Seafloor depth: -137.057532 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 106.172722 meters # Minimum depth: 139.820594 meters looking forward 100.000000 meters along route # Maximum depth: 144.840687 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 89.820594 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.581726; longitude = -136.055360; duration = 424; initialDepth = 98.282785; finalDepth = 89.820594; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 89.820594 # Seafloor depth: -139.820594 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 106.171393 meters # Minimum depth: 148.282785 meters looking forward 100.000000 meters along route # Maximum depth: 164.939413 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 98.282785 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.582507; longitude = -136.056996; duration = 424; initialDepth = 114.663233; finalDepth = 98.282785; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 98.282785 # Seafloor depth: -148.282785 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 106.170063 meters # Minimum depth: 164.663233 meters looking forward 100.000000 meters along route # Maximum depth: 169.538749 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 114.663233 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.583288; longitude = -136.058633; duration = 424; initialDepth = 121.440950; finalDepth = 114.663233; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.103144 # Actual altitude: 50.103144 # Commanded vehicle depth: 114.663233 # Seafloor depth: -164.766377 # 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 28 # Segment length 106.168733 meters # Minimum depth: 171.440950 meters looking forward 100.000000 meters along route # Maximum depth: 180.637849 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 121.440950 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.584069; longitude = -136.060270; duration = 424; initialDepth = 130.770340; finalDepth = 121.440950; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.103144 # Actual altitude: 50.103144 # Commanded vehicle depth: 121.44095 # Seafloor depth: -171.440950 # 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 28 # Segment length 106.167404 meters # Minimum depth: 180.770340 meters looking forward 100.000000 meters along route # Maximum depth: 184.669944 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 130.770340 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.584850; longitude = -136.061906; duration = 424; initialDepth = 134.796294; finalDepth = 130.770340; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 130.77034 # Seafloor depth: -180.770340 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 110.464197 meters # Minimum depth: 184.796294 meters looking forward 100.000000 meters along route # Maximum depth: 195.579724 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 134.796294 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.585631; longitude = -136.063543; duration = 441; initialDepth = 144.458272; finalDepth = 134.796294; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 134.796294 # Seafloor depth: -184.796294 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 101.866621 meters # Minimum depth: 194.458272 meters looking forward 100.000000 meters along route # Maximum depth: 202.193647 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 144.458272 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.586443; longitude = -136.065246; duration = 407; initialDepth = 152.680749; finalDepth = 144.458272; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.336097 # Actual altitude: 50.336097 # Commanded vehicle depth: 144.458272 # Seafloor depth: -194.794369 # 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 28 # Segment length 106.163415 meters # Minimum depth: 202.680749 meters looking forward 100.000000 meters along route # Maximum depth: 204.129545 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 152.680749 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.587193; longitude = -136.066816; duration = 424; initialDepth = 154.719819; finalDepth = 152.680749; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.336097 # Actual altitude: 50.336097 # Commanded vehicle depth: 152.680749 # Seafloor depth: -202.680749 # 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 28 # Segment length 106.162085 meters # Minimum depth: 204.719819 meters looking forward 100.000000 meters along route # Maximum depth: 208.632981 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 154.719819 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.587974; longitude = -136.068453; duration = 424; initialDepth = 159.065698; finalDepth = 154.719819; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 154.719819 # Seafloor depth: -204.719819 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 106.160756 meters # Minimum depth: 209.065698 meters looking forward 100.000000 meters along route # Maximum depth: 211.190057 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 159.065698 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.588754; longitude = -136.070090; duration = 424; initialDepth = 159.528072; finalDepth = 159.065698; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.237644 # Actual altitude: 50.237644 # Commanded vehicle depth: 159.065698 # Seafloor depth: -209.303342 # 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 28 # Segment length 106.159426 meters # Minimum depth: 209.528072 meters looking forward 100.000000 meters along route # Maximum depth: 212.576092 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 159.528072 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.589535; longitude = -136.071726; duration = 424; initialDepth = 162.949607; finalDepth = 159.528072; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.237644 # Actual altitude: 50.237644 # Commanded vehicle depth: 159.528072 # Seafloor depth: -209.528072 # 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 28 # Segment length 106.158097 meters # Minimum depth: 212.949607 meters looking forward 100.000000 meters along route # Maximum depth: 216.770919 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 162.949607 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.590316; longitude = -136.073363; duration = 424; initialDepth = 166.873219; finalDepth = 162.949607; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.668522 # Actual altitude: 50.668522 # Commanded vehicle depth: 162.949607 # Seafloor depth: -213.618129 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 108.988399 meters # Minimum depth: 216.873219 meters looking forward 100.000000 meters along route # Maximum depth: 219.333833 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 166.873219 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.591097; longitude = -136.074999; duration = 435; initialDepth = 167.182808; finalDepth = 166.873219; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.668522 # Actual altitude: 50.668522 # Commanded vehicle depth: 166.873219 # Seafloor depth: -216.873219 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 103.323807 meters # Minimum depth: 217.182808 meters looking forward 100.000000 meters along route # Maximum depth: 224.428539 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 167.182808 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.591899; longitude = -136.076680; duration = 413; initialDepth = 173.206256; finalDepth = 167.182808; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.313867 # Actual altitude: 52.313867 # Commanded vehicle depth: 167.182808 # Seafloor depth: -219.496675 # 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 28 # Segment length 106.154109 meters # Minimum depth: 223.206256 meters looking forward 100.000000 meters along route # Maximum depth: 224.597853 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 173.206256 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.592659; longitude = -136.078273; duration = 424; initialDepth = 175.508952; finalDepth = 173.206256; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.313867 # Actual altitude: 52.313867 # Commanded vehicle depth: 173.206256 # Seafloor depth: -223.687684 # 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 28 # Segment length 106.152780 meters # Minimum depth: 225.508952 meters looking forward 100.000000 meters along route # Maximum depth: 228.711984 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 175.508952 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.593440; longitude = -136.079909; duration = 424; initialDepth = 177.173335; finalDepth = 175.508952; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.481428 # Actual altitude: 50.481428 # Commanded vehicle depth: 175.508952 # Seafloor depth: -225.508952 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 106.151450 meters # Minimum depth: 227.173335 meters looking forward 100.000000 meters along route # Maximum depth: 232.656224 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 177.173335 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.594221; longitude = -136.081546; duration = 424; initialDepth = 182.121671; finalDepth = 177.173335; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.551029 # Actual altitude: 50.551029 # Commanded vehicle depth: 177.173335 # Seafloor depth: -227.724364 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 106.150122 meters # Minimum depth: 232.121671 meters looking forward 100.000000 meters along route # Maximum depth: 236.544979 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 182.121671 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.595002; longitude = -136.083183; duration = 424; initialDepth = 185.736169; finalDepth = 182.121671; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.551029 # Actual altitude: 50.551029 # Commanded vehicle depth: 182.121671 # Seafloor depth: -232.217835 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 106.148792 meters # Minimum depth: 235.736169 meters looking forward 100.000000 meters along route # Maximum depth: 237.854845 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 185.736169 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.595782; longitude = -136.084819; duration = 424; initialDepth = 185.884008; finalDepth = 185.736169; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.618847 # Actual altitude: 50.618847 # Commanded vehicle depth: 185.736169 # Seafloor depth: -236.355016 # 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 28 # Segment length 107.512859 meters # Minimum depth: 235.884008 meters looking forward 100.000000 meters along route # Maximum depth: 243.651761 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 185.884008 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.596563; longitude = -136.086456; duration = 430; initialDepth = 192.253599; finalDepth = 185.884008; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.812543 # Actual altitude: 51.812543 # Commanded vehicle depth: 185.884008 # Seafloor depth: -237.696551 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 104.780738 meters # Minimum depth: 242.253599 meters looking forward 100.000000 meters along route # Maximum depth: 243.761206 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 192.253599 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.597354; longitude = -136.088114; duration = 419; initialDepth = 194.076658; finalDepth = 192.253599; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.812543 # Actual altitude: 51.812543 # Commanded vehicle depth: 192.253599 # Seafloor depth: -243.632411 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 106.144805 meters # Minimum depth: 244.076658 meters looking forward 100.000000 meters along route # Maximum depth: 253.910009 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 194.076658 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.598125; longitude = -136.089729; duration = 424; initialDepth = 201.673919; finalDepth = 194.076658; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.378812 # Actual altitude: 51.378812 # Commanded vehicle depth: 194.076658 # Seafloor depth: -244.457097 # 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 28 # Segment length 106.143476 meters # Minimum depth: 251.673919 meters looking forward 100.000000 meters along route # Maximum depth: 254.992196 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 201.673919 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.598906; longitude = -136.091366; duration = 424; initialDepth = 206.525666; finalDepth = 201.673919; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.380678 # Actual altitude: 52.380678 # Commanded vehicle depth: 201.673919 # Seafloor depth: -254.054597 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 106.142148 meters # Minimum depth: 256.525666 meters looking forward 100.000000 meters along route # Maximum depth: 259.427302 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 206.525666 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.599687; longitude = -136.093002; duration = 424; initialDepth = 209.868607; finalDepth = 206.525666; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.380678 # Actual altitude: 52.380678 # Commanded vehicle depth: 206.525666 # Seafloor depth: -256.525666 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 106.140818 meters # Minimum depth: 259.868607 meters looking forward 100.000000 meters along route # Maximum depth: 261.440016 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 209.868607 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.600468; longitude = -136.094639; duration = 424; initialDepth = 210.905511; finalDepth = 209.868607; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 209.868607 # Seafloor depth: -259.868607 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 106.139489 meters # Minimum depth: 260.905511 meters looking forward 100.000000 meters along route # Maximum depth: 265.363752 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 210.905511 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.601249; longitude = -136.096276; duration = 424; initialDepth = 215.777145; finalDepth = 210.905511; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 210.905511 # Seafloor depth: -260.905511 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 106.138161 meters # Minimum depth: 265.777145 meters looking forward 100.000000 meters along route # Maximum depth: 267.442137 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 215.777145 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.602030; longitude = -136.097912; duration = 424; initialDepth = 216.242043; finalDepth = 215.777145; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 215.777145 # Seafloor depth: -265.777145 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 111.123181 meters # Minimum depth: 266.242043 meters looking forward 100.000000 meters along route # Maximum depth: 268.586292 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 216.242043 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.602811; longitude = -136.099549; duration = 444; initialDepth = 213.516387; finalDepth = 216.242043; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.203447 # Actual altitude: 51.203447 # Commanded vehicle depth: 216.242043 # Seafloor depth: -267.445490 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 101.149153 meters # Minimum depth: 263.516387 meters looking forward 100.000000 meters along route # Maximum depth: 267.049233 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 213.516387 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.603628; longitude = -136.101263; duration = 404; initialDepth = 218.625900; finalDepth = 213.516387; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.397204 # Actual altitude: 52.397204 # Commanded vehicle depth: 213.516387 # Seafloor depth: -265.913591 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 106.134175 meters # Minimum depth: 268.625900 meters looking forward 100.000000 meters along route # Maximum depth: 272.502184 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 218.625900 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.604372; longitude = -136.102822; duration = 424; initialDepth = 222.245501; finalDepth = 218.625900; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.397204 # Actual altitude: 52.397204 # Commanded vehicle depth: 218.6259 # Seafloor depth: -268.625900 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 106.132845 meters # Minimum depth: 272.245501 meters looking forward 100.000000 meters along route # Maximum depth: 274.515570 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 222.245501 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.605153; longitude = -136.104459; duration = 424; initialDepth = 223.243819; finalDepth = 222.245501; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 222.245501 # Seafloor depth: -272.245501 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 106.131517 meters # Minimum depth: 273.243819 meters looking forward 100.000000 meters along route # Maximum depth: 277.485735 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 223.243819 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.605934; longitude = -136.106096; duration = 424; initialDepth = 227.241790; finalDepth = 223.243819; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 223.243819 # Seafloor depth: -273.243819 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 106.130188 meters # Minimum depth: 277.241790 meters looking forward 100.000000 meters along route # Maximum depth: 282.325255 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 227.241790 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.606715; longitude = -136.107732; duration = 424; initialDepth = 233.481640; finalDepth = 227.241790; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.973617 # Actual altitude: 50.973617 # Commanded vehicle depth: 227.24179 # Seafloor depth: -278.215407 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 106.128860 meters # Minimum depth: 283.481640 meters looking forward 100.000000 meters along route # Maximum depth: 286.257858 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 233.481640 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.607496; longitude = -136.109369; duration = 424; initialDepth = 231.361464; finalDepth = 233.481640; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.973617 # Actual altitude: 50.973617 # Commanded vehicle depth: 233.48164 # Seafloor depth: -283.481640 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 109.647732 meters # Minimum depth: 281.361464 meters looking forward 100.000000 meters along route # Maximum depth: 287.973908 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 231.361464 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.608277; longitude = -136.111006; duration = 438; initialDepth = 238.657341; finalDepth = 231.361464; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.384295 # Actual altitude: 53.384295 # Commanded vehicle depth: 231.361464 # Seafloor depth: -284.745759 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 103.072011 meters # Minimum depth: 288.657341 meters looking forward 100.000000 meters along route # Maximum depth: 291.955493 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 238.657341 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.609084; longitude = -136.112696; duration = 412; initialDepth = 239.784570; finalDepth = 238.657341; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.384295 # Actual altitude: 53.384295 # Commanded vehicle depth: 238.657341 # Seafloor depth: -288.674165 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 150.000985 meters # Minimum depth: 289.784570 meters looking forward 100.000000 meters along route # Maximum depth: 293.367720 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 239.784570 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.609842; longitude = -136.114286; duration = 600; # abortOnTimeout = True; initialDepth = 236.521251; finalDepth = 239.784570; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.7772660000001 # Actual altitude: 51.7772660000001 # Commanded vehicle depth: 239.78457 # Seafloor depth: -291.561836 # 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; } # ####################################################### # # 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 162.612310 meters # Minimum depth: 286.521251 meters looking forward 100.000000 meters along route # Maximum depth: 289.593226 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 236.521251 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.609072; longitude = -136.117605; duration = 650; # abortOnTimeout = True; initialDepth = 233.940492; finalDepth = 236.521251; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.804234 # Actual altitude: 52.804234 # Commanded vehicle depth: 236.521251 # Seafloor depth: -289.325485 # 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 26 # Segment length 106.122891 meters # Minimum depth: 283.940492 meters looking forward 100.000000 meters along route # Maximum depth: 287.400917 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 233.940492 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.607876; longitude = -136.115097; duration = 424; initialDepth = 229.721236; finalDepth = 233.940492; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.30679 # Actual altitude: 53.30679 # Commanded vehicle depth: 233.940492 # Seafloor depth: -287.247282 # 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 26 # Segment length 106.124220 meters # Minimum depth: 279.721236 meters looking forward 100.000000 meters along route # Maximum depth: 283.860371 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 229.721236 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.607095; longitude = -136.113460; duration = 424; initialDepth = 227.201465; finalDepth = 229.721236; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.139135 # Actual altitude: 54.139135 # Commanded vehicle depth: 229.721236 # Seafloor depth: -283.860371 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 106.125549 meters # Minimum depth: 277.201465 meters looking forward 100.000000 meters along route # Maximum depth: 280.347730 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 227.201465 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.606314; longitude = -136.111824; duration = 424; initialDepth = 224.735981; finalDepth = 227.201465; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.139135 # Actual altitude: 54.139135 # Commanded vehicle depth: 227.201465 # Seafloor depth: -280.139453 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 110.617806 meters # Minimum depth: 274.735981 meters looking forward 100.000000 meters along route # Maximum depth: 279.696596 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 224.735981 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.605533; longitude = -136.110187; duration = 442; initialDepth = 218.987641; finalDepth = 224.735981; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.960615 # Actual altitude: 54.960615 # Commanded vehicle depth: 224.735981 # Seafloor depth: -279.696596 # 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 26 # Segment length 101.637277 meters # Minimum depth: 268.987641 meters looking forward 100.000000 meters along route # Maximum depth: 274.850635 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 218.987641 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.604719; longitude = -136.108481; duration = 406; initialDepth = 217.959235; finalDepth = 218.987641; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.582785 # Actual altitude: 55.582785 # Commanded vehicle depth: 218.987641 # Seafloor depth: -274.570426 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 106.129535 meters # Minimum depth: 267.959235 meters looking forward 100.000000 meters along route # Maximum depth: 273.177039 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 217.959235 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.603971; longitude = -136.106914; duration = 424; initialDepth = 219.266687; finalDepth = 217.959235; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.582785 # Actual altitude: 55.582785 # Commanded vehicle depth: 217.959235 # Seafloor depth: -268.619739 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 106.130863 meters # Minimum depth: 269.266687 meters looking forward 100.000000 meters along route # Maximum depth: 272.231633 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 219.266687 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.603191; longitude = -136.105277; duration = 424; initialDepth = 217.588034; finalDepth = 219.266687; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.964946 # Actual altitude: 52.964946 # Commanded vehicle depth: 219.266687 # Seafloor depth: -272.231633 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 106.132193 meters # Minimum depth: 267.588034 meters looking forward 100.000000 meters along route # Maximum depth: 270.891357 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 217.588034 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.602410; longitude = -136.103641; duration = 424; initialDepth = 213.552311; finalDepth = 217.588034; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.964946 # Actual altitude: 52.964946 # Commanded vehicle depth: 217.588034 # Seafloor depth: -270.246837 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 106.133520 meters # Minimum depth: 263.552311 meters looking forward 100.000000 meters along route # Maximum depth: 266.680614 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 213.552311 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.601629; longitude = -136.102004; duration = 424; initialDepth = 210.593580; finalDepth = 213.552311; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.128303 # Actual altitude: 53.128303 # Commanded vehicle depth: 213.552311 # Seafloor depth: -266.680614 # 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 26 # Segment length 106.134850 meters # Minimum depth: 260.593580 meters looking forward 100.000000 meters along route # Maximum depth: 263.720299 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 210.593580 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.600848; longitude = -136.100367; duration = 424; initialDepth = 207.924844; finalDepth = 210.593580; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.128303 # Actual altitude: 53.128303 # Commanded vehicle depth: 210.59358 # Seafloor depth: -263.528314 # 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 26 # Segment length 109.230863 meters # Minimum depth: 257.924844 meters looking forward 100.000000 meters along route # Maximum depth: 260.610749 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 207.924844 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.600067; longitude = -136.098731; duration = 436; initialDepth = 203.734822; finalDepth = 207.924844; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.934734 # Actual altitude: 52.934734 # Commanded vehicle depth: 207.924844 # Seafloor depth: -260.598220 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 103.042823 meters # Minimum depth: 253.734822 meters looking forward 100.000000 meters along route # Maximum depth: 257.703699 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 203.734822 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.599264; longitude = -136.097046; duration = 412; initialDepth = 199.094506; finalDepth = 203.734822; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.963032 # Actual altitude: 53.963032 # Commanded vehicle depth: 203.734822 # Seafloor depth: -257.697854 # 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 26 # Segment length 106.138837 meters # Minimum depth: 249.094506 meters looking forward 100.000000 meters along route # Maximum depth: 253.703718 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 199.094506 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.598506; longitude = -136.095457; duration = 424; initialDepth = 194.745039; finalDepth = 199.094506; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.609212 # Actual altitude: 54.609212 # Commanded vehicle depth: 199.094506 # Seafloor depth: -253.703718 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 106.140165 meters # Minimum depth: 244.745039 meters looking forward 100.000000 meters along route # Maximum depth: 247.588008 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 194.745039 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.597725; longitude = -136.093821; duration = 424; initialDepth = 190.771883; finalDepth = 194.745039; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.609212 # Actual altitude: 54.609212 # Commanded vehicle depth: 194.745039 # Seafloor depth: -247.588008 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 106.141495 meters # Minimum depth: 240.771883 meters looking forward 100.000000 meters along route # Maximum depth: 244.491122 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 190.771883 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.596944; longitude = -136.092184; duration = 424; initialDepth = 184.181830; finalDepth = 190.771883; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.719239 # Actual altitude: 53.719239 # Commanded vehicle depth: 190.771883 # Seafloor depth: -244.491122 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 106.142823 meters # Minimum depth: 234.181830 meters looking forward 100.000000 meters along route # Maximum depth: 242.536529 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 184.181830 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.596163; longitude = -136.090548; duration = 424; initialDepth = 183.856506; finalDepth = 184.181830; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.378976 # Actual altitude: 57.378976 # Commanded vehicle depth: 184.18183 # Seafloor depth: -241.560806 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 106.144153 meters # Minimum depth: 233.856506 meters looking forward 100.000000 meters along route # Maximum depth: 235.238116 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 183.856506 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.595382; longitude = -136.088911; duration = 424; initialDepth = 179.581668; finalDepth = 183.856506; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.378976 # Actual altitude: 57.378976 # Commanded vehicle depth: 183.856506 # Seafloor depth: -234.514524 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 107.843677 meters # Minimum depth: 229.581668 meters looking forward 100.000000 meters along route # Maximum depth: 233.656699 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 179.581668 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.594602; longitude = -136.087274; duration = 431; initialDepth = 177.847610; finalDepth = 179.581668; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.075031 # Actual altitude: 54.075031 # Commanded vehicle depth: 179.581668 # Seafloor depth: -233.656699 # 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 26 # Segment length 104.448615 meters # Minimum depth: 227.847610 meters looking forward 100.000000 meters along route # Maximum depth: 230.674723 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 177.847610 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.593808; longitude = -136.085611; duration = 417; initialDepth = 175.498551; finalDepth = 177.847610; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.075031 # Actual altitude: 54.075031 # Commanded vehicle depth: 177.84761 # Seafloor depth: -229.585326 # 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 26 # Segment length 106.148140 meters # Minimum depth: 225.498551 meters looking forward 100.000000 meters along route # Maximum depth: 227.851788 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 175.498551 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.593040; longitude = -136.084001; duration = 424; initialDepth = 173.287717; finalDepth = 175.498551; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.737716 # Actual altitude: 51.737716 # Commanded vehicle depth: 175.498551 # Seafloor depth: -226.745811 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 106.149470 meters # Minimum depth: 223.287717 meters looking forward 100.000000 meters along route # Maximum depth: 225.333445 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 173.287717 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.592259; longitude = -136.082364; duration = 424; initialDepth = 166.860584; finalDepth = 173.287717; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.98222 # Actual altitude: 51.98222 # Commanded vehicle depth: 173.287717 # Seafloor depth: -225.269937 # 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 26 # Segment length 106.150798 meters # Minimum depth: 216.860584 meters looking forward 100.000000 meters along route # Maximum depth: 224.461985 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 166.860584 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.591478; longitude = -136.080728; duration = 424; initialDepth = 167.252769; finalDepth = 166.860584; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.601401 # Actual altitude: 57.601401 # Commanded vehicle depth: 166.860584 # Seafloor depth: -224.461985 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 106.152128 meters # Minimum depth: 217.252769 meters looking forward 100.000000 meters along route # Maximum depth: 219.215869 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 167.252769 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.590697; longitude = -136.079091; duration = 424; initialDepth = 160.016100; finalDepth = 167.252769; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.601401 # Actual altitude: 57.601401 # Commanded vehicle depth: 167.252769 # Seafloor depth: -219.215869 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 106.153457 meters # Minimum depth: 210.016100 meters looking forward 100.000000 meters along route # Maximum depth: 217.792657 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 160.016100 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.589917; longitude = -136.077454; duration = 424; initialDepth = 161.716189; finalDepth = 160.016100; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.287265 # Actual altitude: 57.287265 # Commanded vehicle depth: 160.0161 # Seafloor depth: -217.303365 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 106.456249 meters # Minimum depth: 211.716189 meters looking forward 100.000000 meters along route # Maximum depth: 213.157068 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 161.716189 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.589136; longitude = -136.075818; duration = 425; initialDepth = 153.655653; finalDepth = 161.716189; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.287265 # Actual altitude: 57.287265 # Commanded vehicle depth: 161.716189 # Seafloor depth: -213.157068 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 111.254425 meters # Minimum depth: 203.655653 meters looking forward 100.000000 meters along route # Maximum depth: 212.161740 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 153.655653 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.588353; longitude = -136.074176; duration = 445; initialDepth = 154.256389; finalDepth = 153.655653; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.305838 # Actual altitude: 58.305838 # Commanded vehicle depth: 153.655653 # Seafloor depth: -211.961491 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 100.757674 meters # Minimum depth: 204.256389 meters looking forward 100.000000 meters along route # Maximum depth: 205.395269 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 154.256389 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.587534; longitude = -136.072461; duration = 403; initialDepth = 147.945303; finalDepth = 154.256389; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.305838 # Actual altitude: 58.305838 # Commanded vehicle depth: 154.256389 # Seafloor depth: -204.989462 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 106.158775 meters # Minimum depth: 197.945303 meters looking forward 100.000000 meters along route # Maximum depth: 206.087184 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 147.945303 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.586793; longitude = -136.070908; duration = 424; initialDepth = 143.957764; finalDepth = 147.945303; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.921128 # Actual altitude: 57.921128 # Commanded vehicle depth: 147.945303 # Seafloor depth: -205.866431 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 106.160105 meters # Minimum depth: 193.957764 meters looking forward 100.000000 meters along route # Maximum depth: 197.584710 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 143.957764 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.586013; longitude = -136.069271; duration = 424; initialDepth = 132.738757; finalDepth = 143.957764; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.921128 # Actual altitude: 57.921128 # Commanded vehicle depth: 143.957764 # Seafloor depth: -197.188487 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 106.161434 meters # Minimum depth: 182.738757 meters looking forward 100.000000 meters along route # Maximum depth: 190.178969 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 132.738757 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.585232; longitude = -136.067635; duration = 424; initialDepth = 126.168498; finalDepth = 132.738757; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.440212 # Actual altitude: 57.440212 # Commanded vehicle depth: 132.738757 # Seafloor depth: -190.178969 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 106.162764 meters # Minimum depth: 176.168498 meters looking forward 100.000000 meters along route # Maximum depth: 182.356817 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 126.168498 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.584451; longitude = -136.065998; duration = 424; initialDepth = 110.305579; finalDepth = 126.168498; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.440212 # Actual altitude: 57.440212 # Commanded vehicle depth: 126.168498 # Seafloor depth: -182.023867 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 106.164093 meters # Minimum depth: 160.305579 meters looking forward 100.000000 meters along route # Maximum depth: 174.270044 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 110.305579 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.583670; longitude = -136.064361; duration = 424; initialDepth = 111.342986; finalDepth = 110.305579; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.964465 # Actual altitude: 63.964465 # Commanded vehicle depth: 110.305579 # Seafloor depth: -174.270044 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 110.168644 meters # Minimum depth: 161.342986 meters looking forward 100.000000 meters along route # Maximum depth: 163.098504 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 111.342986 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.582889; longitude = -136.062725; duration = 440; initialDepth = 92.196747; finalDepth = 111.342986; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.964465 # Actual altitude: 63.964465 # Commanded vehicle depth: 111.342986 # Seafloor depth: -161.472696 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.163532 meters # Minimum depth: 142.196747 meters looking forward 100.000000 meters along route # Maximum depth: 162.021802 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 92.196747 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.582079; longitude = -136.061026; duration = 408; initialDepth = 87.687674; finalDepth = 92.196747; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.825055 # Actual altitude: 69.825055 # Commanded vehicle depth: 92.196747 # Seafloor depth: -162.021802 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 106.168082 meters # Minimum depth: 137.687674 meters looking forward 100.000000 meters along route # Maximum depth: 141.378402 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 87.687674 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.581328; longitude = -136.059451; duration = 424; initialDepth = 86.711365; finalDepth = 87.687674; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.825055 # Actual altitude: 69.825055 # Commanded vehicle depth: 87.687674 # Seafloor depth: -141.378402 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 106.169412 meters # Minimum depth: 136.711365 meters looking forward 100.000000 meters along route # Maximum depth: 137.185451 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 86.711365 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.580547; longitude = -136.057815; duration = 424; initialDepth = 83.016102; finalDepth = 86.711365; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.690728 # Actual altitude: 53.690728 # Commanded vehicle depth: 86.711365 # Seafloor depth: -137.185451 # 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 26 # Segment length 106.170742 meters # Minimum depth: 133.016102 meters looking forward 100.000000 meters along route # Maximum depth: 136.241703 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 83.016102 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.579766; longitude = -136.056178; duration = 424; initialDepth = 81.432985; finalDepth = 83.016102; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.225601 # Actual altitude: 53.225601 # Commanded vehicle depth: 83.016102 # Seafloor depth: -136.241703 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 106.172072 meters # Minimum depth: 131.432985 meters looking forward 100.000000 meters along route # Maximum depth: 132.868142 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 81.432985 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.578985; longitude = -136.054541; duration = 424; initialDepth = 79.591998; finalDepth = 81.432985; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.225601 # Actual altitude: 53.225601 # Commanded vehicle depth: 81.432985 # Seafloor depth: -132.868142 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 106.173402 meters # Minimum depth: 129.591998 meters looking forward 100.000000 meters along route # Maximum depth: 131.342323 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 79.591998 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.578204; longitude = -136.052905; duration = 424; initialDepth = 75.132039; finalDepth = 79.591998; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.750325 # Actual altitude: 51.750325 # Commanded vehicle depth: 79.591998 # Seafloor depth: -131.342323 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 108.781159 meters # Minimum depth: 125.132039 meters looking forward 100.000000 meters along route # Maximum depth: 129.465688 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 75.132039 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.577424; longitude = -136.051268; duration = 435; initialDepth = 73.486450; finalDepth = 75.132039; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.333649 # Actual altitude: 54.333649 # Commanded vehicle depth: 75.132039 # Seafloor depth: -129.465688 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 103.569635 meters # Minimum depth: 123.486450 meters looking forward 100.000000 meters along route # Maximum depth: 126.058586 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 73.486450 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.576624; longitude = -136.049591; duration = 414; initialDepth = 70.261071; finalDepth = 73.486450; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.333649 # Actual altitude: 54.333649 # Commanded vehicle depth: 73.48645 # Seafloor depth: -126.058586 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 106.177391 meters # Minimum depth: 120.261071 meters looking forward 100.000000 meters along route # Maximum depth: 123.595546 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 70.261071 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.575862; longitude = -136.047995; duration = 424; initialDepth = 70.970509; finalDepth = 70.261071; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.334475 # Actual altitude: 53.334475 # Commanded vehicle depth: 70.261071 # Seafloor depth: -123.595546 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 106.178722 meters # Minimum depth: 120.970509 meters looking forward 100.000000 meters along route # Maximum depth: 121.820082 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 70.970509 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.575081; longitude = -136.046358; duration = 424; initialDepth = 66.321553; finalDepth = 70.970509; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.334475 # Actual altitude: 53.334475 # Commanded vehicle depth: 70.970509 # Seafloor depth: -121.014661 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 106.180052 meters # Minimum depth: 116.321553 meters looking forward 100.000000 meters along route # Maximum depth: 119.881837 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.321553 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.574300; longitude = -136.044722; duration = 424; initialDepth = 65.819156; finalDepth = 66.321553; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.560284 # Actual altitude: 53.560284 # Commanded vehicle depth: 66.321553 # Seafloor depth: -119.881837 # 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 26 # Segment length 106.181382 meters # Minimum depth: 115.819156 meters looking forward 100.000000 meters along route # Maximum depth: 119.509984 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.819156 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.573519; longitude = -136.043085; duration = 424; initialDepth = 64.614567; finalDepth = 65.819156; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.560284 # Actual altitude: 53.560284 # Commanded vehicle depth: 65.819156 # Seafloor depth: -117.418011 # 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 26 # Segment length 106.182712 meters # Minimum depth: 114.614567 meters looking forward 100.000000 meters along route # Maximum depth: 117.125692 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.614567 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.572739; longitude = -136.041448; duration = 424; initialDepth = 58.109987; finalDepth = 64.614567; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.047561 # Actual altitude: 52.047561 # Commanded vehicle depth: 64.614567 # Seafloor depth: -116.662128 # 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 26 # Segment length 107.393430 meters # Minimum depth: 108.109987 meters looking forward 100.000000 meters along route # Maximum depth: 116.936056 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.109987 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.571958; longitude = -136.039812; duration = 429; initialDepth = 58.263196; finalDepth = 58.109987; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.59911 # Actual altitude: 56.59911 # Commanded vehicle depth: 58.109987 # Seafloor depth: -114.709097 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 104.975985 meters # Minimum depth: 108.263196 meters looking forward 100.000000 meters along route # Maximum depth: 117.554462 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.263196 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.571168; longitude = -136.038156; duration = 419; initialDepth = 57.541088; finalDepth = 58.263196; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.59911 # Actual altitude: 56.59911 # Commanded vehicle depth: 58.263196 # Seafloor depth: -108.263196 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 106.186702 meters # Minimum depth: 107.541088 meters looking forward 100.000000 meters along route # Maximum depth: 111.315584 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.541088 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.570396; longitude = -136.036538; duration = 424; initialDepth = 55.789190; finalDepth = 57.541088; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.774496 # Actual altitude: 53.774496 # Commanded vehicle depth: 57.541088 # Seafloor depth: -111.315584 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 106.188034 meters # Minimum depth: 105.789190 meters looking forward 100.000000 meters along route # Maximum depth: 107.235036 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.789190 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.569615; longitude = -136.034902; duration = 424; initialDepth = 51.221956; finalDepth = 55.789190; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.774496 # Actual altitude: 53.774496 # Commanded vehicle depth: 55.78919 # Seafloor depth: -107.235036 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 106.189363 meters # Minimum depth: 101.221956 meters looking forward 100.000000 meters along route # Maximum depth: 105.123778 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 51.221956 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.568835; longitude = -136.033265; duration = 424; initialDepth = 47.628987; finalDepth = 51.221956; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.901822 # Actual altitude: 53.901822 # Commanded vehicle depth: 51.221956 # Seafloor depth: -105.123778 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 116.237618 meters # Minimum depth: 97.628987 meters looking forward 100.000000 meters along route # Maximum depth: 100.683799 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 47.628987 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.568054; longitude = -136.031628; duration = 464; initialDepth = 47.167558; finalDepth = 47.628987; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.901822 # Actual altitude: 53.901822 # Commanded vehicle depth: 47.628987 # Seafloor depth: -100.683799 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 150.058260 meters # Minimum depth: 97.167558 meters looking forward 100.000000 meters along route # Maximum depth: 97.458276 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 47.167558 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.567199; longitude = -136.029837; duration = 600; # abortOnTimeout = True; initialDepth = 47.169209; finalDepth = 47.167558; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.054812 # Actual altitude: 53.054812 # Commanded vehicle depth: 47.167558 # Seafloor depth: -97.432161 # 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; } # ####################################################### # # 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 166.556286 meters # Minimum depth: 97.169209 meters looking forward 100.000000 meters along route # Maximum depth: 102.363191 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 47.169209 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.566430; longitude = -136.033153; duration = 666; # abortOnTimeout = True; initialDepth = 52.555752; finalDepth = 47.169209; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.264603 # Actual altitude: 50.264603 # Commanded vehicle depth: 47.169209 # Seafloor depth: -97.169209 # 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 24 # Segment length 106.855224 meters # Minimum depth: 102.555752 meters looking forward 100.000000 meters along route # Maximum depth: 106.938727 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.555752 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.567655; longitude = -136.035720; duration = 427; initialDepth = 56.958372; finalDepth = 52.555752; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 52.555752 # Seafloor depth: -102.555752 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 111.290644 meters # Minimum depth: 106.958372 meters looking forward 100.000000 meters along route # Maximum depth: 109.325112 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.958372 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.568440; longitude = -136.037367; duration = 445; initialDepth = 59.473781; finalDepth = 56.958372; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 56.958372 # Seafloor depth: -106.958372 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.407887 meters # Minimum depth: 109.473781 meters looking forward 100.000000 meters along route # Maximum depth: 110.781237 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.473781 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.569259; longitude = -136.039082; duration = 401; initialDepth = 59.394351; finalDepth = 59.473781; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 59.473781 # Seafloor depth: -109.473781 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 106.181924 meters # Minimum depth: 109.394351 meters looking forward 100.000000 meters along route # Maximum depth: 118.083985 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.394351 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.569997; longitude = -136.040630; duration = 424; initialDepth = 64.570597; finalDepth = 59.394351; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 59.394351 # Seafloor depth: -109.394351 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 106.180595 meters # Minimum depth: 114.570597 meters looking forward 100.000000 meters along route # Maximum depth: 117.431413 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.570597 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.570778; longitude = -136.042267; duration = 424; initialDepth = 64.753156; finalDepth = 64.570597; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.860816 # Actual altitude: 52.860816 # Commanded vehicle depth: 64.570597 # Seafloor depth: -117.431413 # 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 24 # Segment length 106.179264 meters # Minimum depth: 114.753156 meters looking forward 100.000000 meters along route # Maximum depth: 118.578777 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.753156 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.571559; longitude = -136.043903; duration = 424; initialDepth = 66.722494; finalDepth = 64.753156; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.860816 # Actual altitude: 52.860816 # Commanded vehicle depth: 64.753156 # Seafloor depth: -114.753156 # 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 24 # Segment length 106.177934 meters # Minimum depth: 116.722494 meters looking forward 100.000000 meters along route # Maximum depth: 120.482270 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.722494 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.572339; longitude = -136.045540; duration = 424; initialDepth = 68.591529; finalDepth = 66.722494; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.562417 # Actual altitude: 50.562417 # Commanded vehicle depth: 66.722494 # Seafloor depth: -117.284911 # 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 24 # Segment length 106.176604 meters # Minimum depth: 118.591529 meters looking forward 100.000000 meters along route # Maximum depth: 120.996782 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 68.591529 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.573120; longitude = -136.047177; duration = 424; initialDepth = 70.132098; finalDepth = 68.591529; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.95407 # Actual altitude: 51.95407 # Commanded vehicle depth: 68.591529 # Seafloor depth: -120.545599 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 110.596075 meters # Minimum depth: 120.132098 meters looking forward 100.000000 meters along route # Maximum depth: 123.424297 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 70.132098 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.573901; longitude = -136.048813; duration = 442; initialDepth = 70.015422; finalDepth = 70.132098; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.95407 # Actual altitude: 51.95407 # Commanded vehicle depth: 70.132098 # Seafloor depth: -120.132098 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 101.753143 meters # Minimum depth: 120.015422 meters looking forward 100.000000 meters along route # Maximum depth: 124.853653 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 70.015422 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.574714; longitude = -136.050518; duration = 407; initialDepth = 75.569739; finalDepth = 70.015422; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.777909 # Actual altitude: 51.777909 # Commanded vehicle depth: 70.015422 # Seafloor depth: -121.793331 # 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 24 # Segment length 106.172614 meters # Minimum depth: 125.569739 meters looking forward 100.000000 meters along route # Maximum depth: 126.860547 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 75.569739 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.575462; longitude = -136.052086; duration = 424; initialDepth = 76.689632; finalDepth = 75.569739; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.777909 # Actual altitude: 51.777909 # Commanded vehicle depth: 75.569739 # Seafloor depth: -125.569739 # 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 24 # Segment length 106.171284 meters # Minimum depth: 126.689632 meters looking forward 100.000000 meters along route # Maximum depth: 129.140784 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 76.689632 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.576243; longitude = -136.053723; duration = 424; initialDepth = 79.319450; finalDepth = 76.689632; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.162203 # Actual altitude: 50.162203 # Commanded vehicle depth: 76.689632 # Seafloor depth: -126.851835 # 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 24 # Segment length 106.169954 meters # Minimum depth: 129.319450 meters looking forward 100.000000 meters along route # Maximum depth: 131.230160 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 79.319450 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.577024; longitude = -136.055360; duration = 424; initialDepth = 81.415357; finalDepth = 79.319450; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.162203 # Actual altitude: 50.162203 # Commanded vehicle depth: 79.31945 # Seafloor depth: -129.319450 # 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 24 # Segment length 106.168625 meters # Minimum depth: 131.415357 meters looking forward 100.000000 meters along route # Maximum depth: 133.791165 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 81.415357 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.577805; longitude = -136.056996; duration = 424; initialDepth = 83.870735; finalDepth = 81.415357; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 81.415357 # Seafloor depth: -131.415357 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 106.167294 meters # Minimum depth: 133.870735 meters looking forward 100.000000 meters along route # Maximum depth: 135.900383 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 83.870735 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.578586; longitude = -136.058633; duration = 424; initialDepth = 85.925959; finalDepth = 83.870735; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 83.870735 # Seafloor depth: -133.870735 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 109.232437 meters # Minimum depth: 135.925959 meters looking forward 100.000000 meters along route # Maximum depth: 138.473669 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 85.925959 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.579366; longitude = -136.060270; duration = 436; initialDepth = 88.574515; finalDepth = 85.925959; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 85.925959 # Seafloor depth: -135.925959 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 103.098163 meters # Minimum depth: 138.574515 meters looking forward 100.000000 meters along route # Maximum depth: 142.698647 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 88.574515 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.580170; longitude = -136.061954; duration = 412; initialDepth = 93.695688; finalDepth = 88.574515; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 88.574515 # Seafloor depth: -138.574515 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 106.163305 meters # Minimum depth: 143.695688 meters looking forward 100.000000 meters along route # Maximum depth: 157.329005 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 93.695688 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.580928; longitude = -136.063543; duration = 424; initialDepth = 111.157335; finalDepth = 93.695688; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 93.695688 # Seafloor depth: -143.695688 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 106.161975 meters # Minimum depth: 161.157335 meters looking forward 100.000000 meters along route # Maximum depth: 169.177675 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 111.157335 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.581709; longitude = -136.065180; duration = 424; initialDepth = 120.995484; finalDepth = 111.157335; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 111.157335 # Seafloor depth: -161.157335 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 106.160646 meters # Minimum depth: 170.995484 meters looking forward 100.000000 meters along route # Maximum depth: 178.670988 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 120.995484 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.582489; longitude = -136.066816; duration = 424; initialDepth = 131.203546; finalDepth = 120.995484; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 120.995484 # Seafloor depth: -170.995484 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 106.159316 meters # Minimum depth: 181.203546 meters looking forward 100.000000 meters along route # Maximum depth: 185.976276 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 131.203546 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.583270; longitude = -136.068453; duration = 424; initialDepth = 134.100489; finalDepth = 131.203546; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 131.203546 # Seafloor depth: -181.203546 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 106.157987 meters # Minimum depth: 184.100489 meters looking forward 100.000000 meters along route # Maximum depth: 196.270571 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 134.100489 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.584051; longitude = -136.070090; duration = 424; initialDepth = 145.453459; finalDepth = 134.100489; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 134.100489 # Seafloor depth: -184.100489 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 107.869037 meters # Minimum depth: 195.453459 meters looking forward 100.000000 meters along route # Maximum depth: 197.084507 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 145.453459 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.584832; longitude = -136.071726; duration = 431; initialDepth = 145.447769; finalDepth = 145.453459; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.861328 # Actual altitude: 50.861328 # Commanded vehicle depth: 145.453459 # Seafloor depth: -196.314787 # 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 24 # Segment length 104.442948 meters # Minimum depth: 195.447769 meters looking forward 100.000000 meters along route # Maximum depth: 205.281373 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 145.447769 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.585625; longitude = -136.073389; duration = 417; initialDepth = 152.343902; finalDepth = 145.447769; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.861328 # Actual altitude: 50.861328 # Commanded vehicle depth: 145.447769 # Seafloor depth: -195.447769 # 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 24 # Segment length 106.153998 meters # Minimum depth: 202.343902 meters looking forward 100.000000 meters along route # Maximum depth: 205.444252 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 152.343902 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.586393; longitude = -136.074999; duration = 424; initialDepth = 155.467560; finalDepth = 152.343902; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.606543 # Actual altitude: 52.606543 # Commanded vehicle depth: 152.343902 # Seafloor depth: -204.950445 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 106.152669 meters # Minimum depth: 205.467560 meters looking forward 100.000000 meters along route # Maximum depth: 210.646033 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 155.467560 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.587174; longitude = -136.076636; duration = 424; initialDepth = 160.723043; finalDepth = 155.467560; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.606543 # Actual altitude: 52.606543 # Commanded vehicle depth: 155.46756 # Seafloor depth: -205.467560 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 106.151339 meters # Minimum depth: 210.723043 meters looking forward 100.000000 meters along route # Maximum depth: 213.004887 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 160.723043 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.587955; longitude = -136.078273; duration = 424; initialDepth = 161.391375; finalDepth = 160.723043; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 160.723043 # Seafloor depth: -210.723043 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 106.150011 meters # Minimum depth: 211.391375 meters looking forward 100.000000 meters along route # Maximum depth: 219.069332 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 161.391375 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.588736; longitude = -136.079909; duration = 424; initialDepth = 167.447536; finalDepth = 161.391375; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 161.391375 # Seafloor depth: -211.391375 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 106.148680 meters # Minimum depth: 217.447536 meters looking forward 100.000000 meters along route # Maximum depth: 220.245198 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 167.447536 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.589516; longitude = -136.081546; duration = 424; initialDepth = 169.440916; finalDepth = 167.447536; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 167.447536 # Seafloor depth: -217.447536 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 106.505877 meters # Minimum depth: 219.440916 meters looking forward 100.000000 meters along route # Maximum depth: 225.597408 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 169.440916 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.590297; longitude = -136.083183; duration = 426; initialDepth = 174.453090; finalDepth = 169.440916; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 169.440916 # Seafloor depth: -219.440916 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 111.250231 meters # Minimum depth: 224.453090 meters looking forward 100.000000 meters along route # Maximum depth: 228.395598 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 174.453090 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.591081; longitude = -136.084825; duration = 445; initialDepth = 175.284893; finalDepth = 174.453090; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 174.45309 # Seafloor depth: -224.453090 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.681959 meters # Minimum depth: 225.284893 meters looking forward 100.000000 meters along route # Maximum depth: 230.949498 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 175.284893 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.591899; longitude = -136.086540; duration = 402; initialDepth = 180.025143; finalDepth = 175.284893; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.528718 # Actual altitude: 50.528718 # Commanded vehicle depth: 175.284893 # Seafloor depth: -225.813611 # 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 24 # Segment length 106.143364 meters # Minimum depth: 230.025143 meters looking forward 100.000000 meters along route # Maximum depth: 232.676026 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 180.025143 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.592639; longitude = -136.088093; duration = 424; initialDepth = 180.717739; finalDepth = 180.025143; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.586162 # Actual altitude: 50.586162 # Commanded vehicle depth: 180.025143 # Seafloor depth: -230.611305 # 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 24 # Segment length 106.142035 meters # Minimum depth: 230.717739 meters looking forward 100.000000 meters along route # Maximum depth: 235.524185 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 180.717739 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.593420; longitude = -136.089729; duration = 424; initialDepth = 185.026426; finalDepth = 180.717739; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5933 # Actual altitude: 50.5933 # Commanded vehicle depth: 180.717739 # Seafloor depth: -231.311039 # 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 24 # Segment length 106.140705 meters # Minimum depth: 235.026426 meters looking forward 100.000000 meters along route # Maximum depth: 239.179137 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 185.026426 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.594201; longitude = -136.091366; duration = 424; initialDepth = 190.861041; finalDepth = 185.026426; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5933 # Actual altitude: 50.5933 # Commanded vehicle depth: 185.026426 # Seafloor depth: -235.524068 # 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 24 # Segment length 106.139377 meters # Minimum depth: 240.861041 meters looking forward 100.000000 meters along route # Maximum depth: 243.393215 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 190.861041 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.594982; longitude = -136.093002; duration = 424; initialDepth = 193.635480; finalDepth = 190.861041; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.497642 # Actual altitude: 50.497642 # Commanded vehicle depth: 190.861041 # Seafloor depth: -240.861041 # 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 24 # Segment length 106.138047 meters # Minimum depth: 243.635480 meters looking forward 100.000000 meters along route # Maximum depth: 248.140405 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 193.635480 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.595763; longitude = -136.094639; duration = 424; initialDepth = 198.205874; finalDepth = 193.635480; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 193.63548 # Seafloor depth: -243.635480 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 110.245405 meters # Minimum depth: 248.205874 meters looking forward 100.000000 meters along route # Maximum depth: 250.987793 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 198.205874 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.596543; longitude = -136.096276; duration = 440; initialDepth = 200.671499; finalDepth = 198.205874; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 198.205874 # Seafloor depth: -248.205874 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 102.026704 meters # Minimum depth: 250.671499 meters looking forward 100.000000 meters along route # Maximum depth: 255.212221 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 200.671499 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.597354; longitude = -136.097976; duration = 408; initialDepth = 204.300017; finalDepth = 200.671499; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 200.671499 # Seafloor depth: -250.671499 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 106.134060 meters # Minimum depth: 254.300017 meters looking forward 100.000000 meters along route # Maximum depth: 260.154326 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 204.300017 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.598105; longitude = -136.099549; duration = 424; initialDepth = 210.012185; finalDepth = 204.300017; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.41547 # Actual altitude: 50.41547 # Commanded vehicle depth: 204.300017 # Seafloor depth: -254.715487 # 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 24 # Segment length 106.132732 meters # Minimum depth: 260.012185 meters looking forward 100.000000 meters along route # Maximum depth: 263.577434 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 210.012185 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.598886; longitude = -136.101186; duration = 424; initialDepth = 212.632414; finalDepth = 210.012185; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.41547 # Actual altitude: 50.41547 # Commanded vehicle depth: 210.012185 # Seafloor depth: -260.177093 # 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 24 # Segment length 106.131403 meters # Minimum depth: 262.632414 meters looking forward 100.000000 meters along route # Maximum depth: 263.592157 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 212.632414 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.599666; longitude = -136.102822; duration = 424; initialDepth = 213.228877; finalDepth = 212.632414; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.562995 # Actual altitude: 50.562995 # Commanded vehicle depth: 212.632414 # Seafloor depth: -263.195409 # 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 24 # Segment length 106.130075 meters # Minimum depth: 263.228877 meters looking forward 100.000000 meters along route # Maximum depth: 267.370825 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 213.228877 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.600447; longitude = -136.104459; duration = 424; initialDepth = 216.074460; finalDepth = 213.228877; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.562995 # Actual altitude: 50.562995 # Commanded vehicle depth: 213.228877 # Seafloor depth: -263.228877 # 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 24 # Segment length 106.128745 meters # Minimum depth: 266.074460 meters looking forward 100.000000 meters along route # Maximum depth: 270.015106 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 216.074460 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.601228; longitude = -136.106096; duration = 424; initialDepth = 217.572451; finalDepth = 216.074460; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.646095 # Actual altitude: 50.646095 # Commanded vehicle depth: 216.07446 # Seafloor depth: -266.720555 # 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 24 # Segment length 108.882293 meters # Minimum depth: 267.572451 meters looking forward 100.000000 meters along route # Maximum depth: 270.739082 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 217.572451 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.602009; longitude = -136.107732; duration = 435; initialDepth = 220.065585; finalDepth = 217.572451; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.646323 # Actual altitude: 52.646323 # Commanded vehicle depth: 217.572451 # Seafloor depth: -270.218774 # 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 24 # Segment length 103.371212 meters # Minimum depth: 270.065585 meters looking forward 100.000000 meters along route # Maximum depth: 275.206904 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 220.065585 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.602810; longitude = -136.109411; duration = 413; initialDepth = 225.905431; finalDepth = 220.065585; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.646323 # Actual altitude: 52.646323 # Commanded vehicle depth: 220.065585 # Seafloor depth: -270.065585 # 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 24 # Segment length 106.124759 meters # Minimum depth: 275.905431 meters looking forward 100.000000 meters along route # Maximum depth: 279.596024 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 225.905431 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.603570; longitude = -136.111006; duration = 424; initialDepth = 222.017133; finalDepth = 225.905431; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 225.905431 # Seafloor depth: -275.905431 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 106.123431 meters # Minimum depth: 272.017133 meters looking forward 100.000000 meters along route # Maximum depth: 280.852220 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 222.017133 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.604351; longitude = -136.112642; duration = 424; initialDepth = 230.211225; finalDepth = 222.017133; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.183358 # Actual altitude: 53.183358 # Commanded vehicle depth: 222.017133 # Seafloor depth: -275.200491 # 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 24 # Segment length 106.122102 meters # Minimum depth: 280.211225 meters looking forward 100.000000 meters along route # Maximum depth: 282.838593 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 230.211225 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.605132; longitude = -136.114279; duration = 424; initialDepth = 232.363797; finalDepth = 230.211225; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.183358 # Actual altitude: 53.183358 # Commanded vehicle depth: 230.211225 # Seafloor depth: -281.552373 # 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 24 # Segment length 106.120774 meters # Minimum depth: 282.363797 meters looking forward 100.000000 meters along route # Maximum depth: 286.827580 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 232.363797 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.605913; longitude = -136.115915; duration = 424; initialDepth = 234.738059; finalDepth = 232.363797; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.341148 # Actual altitude: 51.341148 # Commanded vehicle depth: 232.363797 # Seafloor depth: -283.369329 # 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 24 # Segment length 106.119445 meters # Minimum depth: 284.738059 meters looking forward 100.000000 meters along route # Maximum depth: 290.928109 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 234.738059 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.606693; longitude = -136.117552; duration = 424; initialDepth = 238.598593; finalDepth = 234.738059; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.005532 # Actual altitude: 51.005532 # Commanded vehicle depth: 234.738059 # Seafloor depth: -284.738059 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 112.512888 meters # Minimum depth: 288.598593 meters looking forward 100.000000 meters along route # Maximum depth: 296.181101 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 238.598593 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.607474; longitude = -136.119189; duration = 450; initialDepth = 243.710920; finalDepth = 238.598593; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.191763 # Actual altitude: 50.191763 # Commanded vehicle depth: 238.598593 # Seafloor depth: -288.790356 # 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 23 # Segment length 149.978326 meters # Minimum depth: 293.710920 meters looking forward 100.000000 meters along route # Maximum depth: 297.729796 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 243.710920 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.608302; longitude = -136.120924; duration = 599; # abortOnTimeout = True; initialDepth = 239.610714; finalDepth = 243.710920; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.243677 # Actual altitude: 52.243677 # Commanded vehicle depth: 243.71092 # Seafloor depth: -295.954597 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 168.464876 meters # Minimum depth: 289.610714 meters looking forward 100.000000 meters along route # Maximum depth: 297.846291 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 239.610714 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.607532; longitude = -136.124242; duration = 673; # abortOnTimeout = True; initialDepth = 235.736515; finalDepth = 239.610714; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.235577 # Actual altitude: 58.235577 # Commanded vehicle depth: 239.610714 # Seafloor depth: -297.846291 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 106.115620 meters # Minimum depth: 285.736515 meters looking forward 100.000000 meters along route # Maximum depth: 292.442346 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 235.736515 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.606293; longitude = -136.121644; duration = 424; initialDepth = 234.181864; finalDepth = 235.736515; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.235577 # Actual altitude: 58.235577 # Commanded vehicle depth: 235.736515 # Seafloor depth: -290.138691 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 107.738077 meters # Minimum depth: 284.181864 meters looking forward 100.000000 meters along route # Maximum depth: 288.948525 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 234.181864 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.605512; longitude = -136.120007; duration = 430; initialDepth = 230.487536; finalDepth = 234.181864; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.402176 # Actual altitude: 54.402176 # Commanded vehicle depth: 234.181864 # Seafloor depth: -285.955589 # 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 22 # Segment length 104.497150 meters # Minimum depth: 280.487536 meters looking forward 100.000000 meters along route # Maximum depth: 284.813443 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 230.487536 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.604719; longitude = -136.118345; duration = 417; initialDepth = 225.283543; finalDepth = 230.487536; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.721136 # Actual altitude: 53.721136 # Commanded vehicle depth: 230.487536 # Seafloor depth: -284.208672 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 106.119606 meters # Minimum depth: 275.283543 meters looking forward 100.000000 meters along route # Maximum depth: 281.186030 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 225.283543 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.603950; longitude = -136.116734; duration = 424; initialDepth = 223.370704; finalDepth = 225.283543; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.902487 # Actual altitude: 55.902487 # Commanded vehicle depth: 225.283543 # Seafloor depth: -281.186030 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 106.120935 meters # Minimum depth: 273.370704 meters looking forward 100.000000 meters along route # Maximum depth: 276.044712 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 223.370704 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.603170; longitude = -136.115097; duration = 424; initialDepth = 220.946861; finalDepth = 223.370704; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.902487 # Actual altitude: 55.902487 # Commanded vehicle depth: 223.370704 # Seafloor depth: -276.044712 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 106.122263 meters # Minimum depth: 270.946861 meters looking forward 100.000000 meters along route # Maximum depth: 273.584544 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 220.946861 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.602389; longitude = -136.113460; duration = 424; initialDepth = 216.443361; finalDepth = 220.946861; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.674008 # Actual altitude: 52.674008 # Commanded vehicle depth: 220.946861 # Seafloor depth: -273.584544 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 106.123592 meters # Minimum depth: 266.443361 meters looking forward 100.000000 meters along route # Maximum depth: 268.689413 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 216.443361 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.601608; longitude = -136.111824; duration = 424; initialDepth = 215.914127; finalDepth = 216.443361; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.637683 # Actual altitude: 52.637683 # Commanded vehicle depth: 216.443361 # Seafloor depth: -268.689413 # 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 22 # Segment length 106.124921 meters # Minimum depth: 265.914127 meters looking forward 100.000000 meters along route # Maximum depth: 267.531954 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 215.914127 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.600828; longitude = -136.110187; duration = 424; initialDepth = 214.108953; finalDepth = 215.914127; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.246052 # Actual altitude: 52.246052 # Commanded vehicle depth: 215.914127 # Seafloor depth: -267.012902 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 106.454834 meters # Minimum depth: 264.108953 meters looking forward 100.000000 meters along route # Maximum depth: 266.416901 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 214.108953 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.600047; longitude = -136.108551; duration = 425; initialDepth = 209.975931; finalDepth = 214.108953; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.307948 # Actual altitude: 52.307948 # Commanded vehicle depth: 214.108953 # Seafloor depth: -266.416901 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 111.240092 meters # Minimum depth: 259.975931 meters looking forward 100.000000 meters along route # Maximum depth: 264.430190 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 209.975931 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.599264; longitude = -136.106909; duration = 444; initialDepth = 204.182479; finalDepth = 209.975931; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.454259 # Actual altitude: 54.454259 # Commanded vehicle depth: 209.975931 # Seafloor depth: -264.430190 # 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 22 # Segment length 100.687810 meters # Minimum depth: 254.182479 meters looking forward 100.000000 meters along route # Maximum depth: 260.048684 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 204.182479 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.598445; longitude = -136.105193; duration = 402; initialDepth = 202.983087; finalDepth = 204.182479; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.866205 # Actual altitude: 55.866205 # Commanded vehicle depth: 204.182479 # Seafloor depth: -260.048684 # 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 22 # Segment length 106.130236 meters # Minimum depth: 252.983087 meters looking forward 100.000000 meters along route # Maximum depth: 256.751503 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 202.983087 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.597705; longitude = -136.103641; duration = 424; initialDepth = 197.353718; finalDepth = 202.983087; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.866205 # Actual altitude: 55.866205 # Commanded vehicle depth: 202.983087 # Seafloor depth: -256.699754 # 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 22 # Segment length 106.131565 meters # Minimum depth: 247.353718 meters looking forward 100.000000 meters along route # Maximum depth: 252.876263 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 197.353718 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.596924; longitude = -136.102004; duration = 424; initialDepth = 195.856374; finalDepth = 197.353718; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.522545 # Actual altitude: 55.522545 # Commanded vehicle depth: 197.353718 # Seafloor depth: -252.876263 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 106.132894 meters # Minimum depth: 245.856374 meters looking forward 100.000000 meters along route # Maximum depth: 251.021734 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 195.856374 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.596143; longitude = -136.100367; duration = 424; initialDepth = 190.956525; finalDepth = 195.856374; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.522545 # Actual altitude: 55.522545 # Commanded vehicle depth: 195.856374 # Seafloor depth: -250.515824 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 106.134222 meters # Minimum depth: 240.956525 meters looking forward 100.000000 meters along route # Maximum depth: 245.252522 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 190.956525 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.595363; longitude = -136.098731; duration = 424; initialDepth = 188.047437; finalDepth = 190.956525; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.65945 # Actual altitude: 54.65945 # Commanded vehicle depth: 190.956525 # Seafloor depth: -245.252522 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 106.135552 meters # Minimum depth: 238.047437 meters looking forward 100.000000 meters along route # Maximum depth: 241.251681 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 188.047437 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.594582; longitude = -136.097094; duration = 424; initialDepth = 182.329268; finalDepth = 188.047437; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.295997 # Actual altitude: 54.295997 # Commanded vehicle depth: 188.047437 # Seafloor depth: -241.251681 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 110.285640 meters # Minimum depth: 232.329268 meters looking forward 100.000000 meters along route # Maximum depth: 239.022545 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 182.329268 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.593801; longitude = -136.095457; duration = 441; initialDepth = 182.999772; finalDepth = 182.329268; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.757456 # Actual altitude: 55.757456 # Commanded vehicle depth: 182.329268 # Seafloor depth: -238.086724 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.989451 meters # Minimum depth: 232.999772 meters looking forward 100.000000 meters along route # Maximum depth: 234.018836 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 182.999772 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.592990; longitude = -136.093757; duration = 407; initialDepth = 180.864155; finalDepth = 182.999772; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.757456 # Actual altitude: 55.757456 # Commanded vehicle depth: 182.999772 # Seafloor depth: -234.018836 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 106.139540 meters # Minimum depth: 230.864155 meters looking forward 100.000000 meters along route # Maximum depth: 233.821142 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 180.864155 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.592240; longitude = -136.092184; duration = 424; initialDepth = 175.810783; finalDepth = 180.864155; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.956987 # Actual altitude: 52.956987 # Commanded vehicle depth: 180.864155 # Seafloor depth: -233.821142 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 106.140868 meters # Minimum depth: 225.810783 meters looking forward 100.000000 meters along route # Maximum depth: 230.856886 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 175.810783 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.591459; longitude = -136.090548; duration = 424; initialDepth = 175.283191; finalDepth = 175.810783; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.894953 # Actual altitude: 54.894953 # Commanded vehicle depth: 175.810783 # Seafloor depth: -230.705736 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 106.142197 meters # Minimum depth: 225.283191 meters looking forward 100.000000 meters along route # Maximum depth: 225.921506 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 175.283191 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.590678; longitude = -136.088911; duration = 424; initialDepth = 171.769868; finalDepth = 175.283191; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.894953 # Actual altitude: 54.894953 # Commanded vehicle depth: 175.283191 # Seafloor depth: -225.531039 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 106.143527 meters # Minimum depth: 221.769868 meters looking forward 100.000000 meters along route # Maximum depth: 225.401200 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 171.769868 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.589898; longitude = -136.087274; duration = 424; initialDepth = 167.063676; finalDepth = 171.769868; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.631332 # Actual altitude: 53.631332 # Commanded vehicle depth: 171.769868 # Seafloor depth: -225.401200 # 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 22 # Segment length 106.144856 meters # Minimum depth: 217.063676 meters looking forward 100.000000 meters along route # Maximum depth: 221.714760 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 167.063676 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.589117; longitude = -136.085638; duration = 424; initialDepth = 160.745062; finalDepth = 167.063676; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.651084 # Actual altitude: 54.651084 # Commanded vehicle depth: 167.063676 # Seafloor depth: -221.714760 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 109.002380 meters # Minimum depth: 210.745062 meters looking forward 100.000000 meters along route # Maximum depth: 216.718352 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 160.745062 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.588336; longitude = -136.084001; duration = 436; initialDepth = 160.784578; finalDepth = 160.745062; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.97329 # Actual altitude: 55.97329 # Commanded vehicle depth: 160.745062 # Seafloor depth: -216.718352 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 103.291320 meters # Minimum depth: 210.784578 meters looking forward 100.000000 meters along route # Maximum depth: 212.695714 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 160.784578 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.587534; longitude = -136.082320; duration = 413; initialDepth = 152.885484; finalDepth = 160.784578; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.97329 # Actual altitude: 55.97329 # Commanded vehicle depth: 160.784578 # Seafloor depth: -212.211703 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 106.148844 meters # Minimum depth: 202.885484 meters looking forward 100.000000 meters along route # Maximum depth: 210.328600 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 152.885484 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.586775; longitude = -136.080728; duration = 424; initialDepth = 151.742699; finalDepth = 152.885484; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.443116 # Actual altitude: 57.443116 # Commanded vehicle depth: 152.885484 # Seafloor depth: -210.328600 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 106.150174 meters # Minimum depth: 201.742699 meters looking forward 100.000000 meters along route # Maximum depth: 202.660337 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 151.742699 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.585994; longitude = -136.079091; duration = 424; initialDepth = 140.876093; finalDepth = 151.742699; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.443116 # Actual altitude: 57.443116 # Commanded vehicle depth: 151.742699 # Seafloor depth: -202.660337 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 106.151503 meters # Minimum depth: 190.876093 meters looking forward 100.000000 meters along route # Maximum depth: 202.425686 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 140.876093 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.585213; longitude = -136.077454; duration = 424; initialDepth = 141.885017; finalDepth = 140.876093; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.549593 # Actual altitude: 61.549593 # Commanded vehicle depth: 140.876093 # Seafloor depth: -202.425686 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 106.152832 meters # Minimum depth: 191.885017 meters looking forward 100.000000 meters along route # Maximum depth: 194.512380 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 141.885017 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.584433; longitude = -136.075818; duration = 424; initialDepth = 124.962490; finalDepth = 141.885017; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.549593 # Actual altitude: 61.549593 # Commanded vehicle depth: 141.885017 # Seafloor depth: -191.885017 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 106.154162 meters # Minimum depth: 174.962490 meters looking forward 100.000000 meters along route # Maximum depth: 194.345042 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 124.962490 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.583652; longitude = -136.074181; duration = 424; initialDepth = 122.727437; finalDepth = 124.962490; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.382552 # Actual altitude: 69.382552 # Commanded vehicle depth: 124.96249 # Seafloor depth: -194.345042 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 107.718894 meters # Minimum depth: 172.727437 meters looking forward 100.000000 meters along route # Maximum depth: 174.643016 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 122.727437 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.582871; longitude = -136.072544; duration = 430; initialDepth = 123.921656; finalDepth = 122.727437; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.382552 # Actual altitude: 69.382552 # Commanded vehicle depth: 122.727437 # Seafloor depth: -174.643016 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 104.593419 meters # Minimum depth: 173.921656 meters looking forward 100.000000 meters along route # Maximum depth: 178.697195 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 123.921656 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.582079; longitude = -136.070884; duration = 418; initialDepth = 106.297631; finalDepth = 123.921656; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.915579 # Actual altitude: 51.915579 # Commanded vehicle depth: 123.921656 # Seafloor depth: -173.921656 # 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 22 # Segment length 106.158150 meters # Minimum depth: 156.297631 meters looking forward 100.000000 meters along route # Maximum depth: 173.606426 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 106.297631 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.581310; longitude = -136.069271; duration = 424; initialDepth = 90.775893; finalDepth = 106.297631; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.308795 # Actual altitude: 67.308795 # Commanded vehicle depth: 106.297631 # Seafloor depth: -173.606426 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 106.159481 meters # Minimum depth: 140.775893 meters looking forward 100.000000 meters along route # Maximum depth: 152.100035 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 90.775893 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.580529; longitude = -136.067635; duration = 424; initialDepth = 86.911375; finalDepth = 90.775893; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.308795 # Actual altitude: 67.308795 # Commanded vehicle depth: 90.775893 # Seafloor depth: -152.100035 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 106.160810 meters # Minimum depth: 136.911375 meters looking forward 100.000000 meters along route # Maximum depth: 140.086380 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 86.911375 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.579748; longitude = -136.065998; duration = 424; initialDepth = 84.130212; finalDepth = 86.911375; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.324142 # Actual altitude: 61.324142 # Commanded vehicle depth: 86.911375 # Seafloor depth: -140.086380 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 106.162140 meters # Minimum depth: 134.130212 meters looking forward 100.000000 meters along route # Maximum depth: 136.463456 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 84.130212 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.578968; longitude = -136.064361; duration = 424; initialDepth = 82.493173; finalDepth = 84.130212; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.175005 # Actual altitude: 53.175005 # Commanded vehicle depth: 84.130212 # Seafloor depth: -136.463456 # 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 22 # Segment length 106.163469 meters # Minimum depth: 132.493173 meters looking forward 100.000000 meters along route # Maximum depth: 134.977265 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 82.493173 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.578187; longitude = -136.062725; duration = 424; initialDepth = 79.681081; finalDepth = 82.493173; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.333244 # Actual altitude: 52.333244 # Commanded vehicle depth: 82.493173 # Seafloor depth: -134.140130 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 106.435185 meters # Minimum depth: 129.681081 meters looking forward 100.000000 meters along route # Maximum depth: 132.247983 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 79.681081 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.577406; longitude = -136.061088; duration = 425; initialDepth = 79.679099; finalDepth = 79.681081; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.566902 # Actual altitude: 52.566902 # Commanded vehicle depth: 79.681081 # Seafloor depth: -132.247983 # 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 22 # Segment length 111.280499 meters # Minimum depth: 129.679099 meters looking forward 100.000000 meters along route # Maximum depth: 132.221826 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 79.679099 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.576624; longitude = -136.059447; duration = 445; initialDepth = 77.281537; finalDepth = 79.679099; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.566902 # Actual altitude: 52.566902 # Commanded vehicle depth: 79.679099 # Seafloor depth: -129.679099 # 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 22 # Segment length 100.782704 meters # Minimum depth: 127.281537 meters looking forward 100.000000 meters along route # Maximum depth: 130.091095 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 77.281537 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.575805; longitude = -136.057732; duration = 403; initialDepth = 75.133249; finalDepth = 77.281537; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.809558 # Actual altitude: 52.809558 # Commanded vehicle depth: 77.281537 # Seafloor depth: -130.091095 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 106.168790 meters # Minimum depth: 125.133249 meters looking forward 100.000000 meters along route # Maximum depth: 126.599891 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 75.133249 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.575064; longitude = -136.056178; duration = 424; initialDepth = 71.485353; finalDepth = 75.133249; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.809558 # Actual altitude: 52.809558 # Commanded vehicle depth: 75.133249 # Seafloor depth: -126.599891 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 106.170119 meters # Minimum depth: 121.485353 meters looking forward 100.000000 meters along route # Maximum depth: 124.842400 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 71.485353 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.574283; longitude = -136.054541; duration = 424; initialDepth = 70.928672; finalDepth = 71.485353; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.357047 # Actual altitude: 53.357047 # Commanded vehicle depth: 71.485353 # Seafloor depth: -124.842400 # 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 22 # Segment length 106.171449 meters # Minimum depth: 120.928672 meters looking forward 100.000000 meters along route # Maximum depth: 123.358963 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 70.928672 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.573503; longitude = -136.052905; duration = 424; initialDepth = 69.092888; finalDepth = 70.928672; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.357047 # Actual altitude: 53.357047 # Commanded vehicle depth: 70.928672 # Seafloor depth: -120.928672 # 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 22 # Segment length 106.172779 meters # Minimum depth: 119.092888 meters looking forward 100.000000 meters along route # Maximum depth: 122.739017 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 69.092888 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.572722; longitude = -136.051268; duration = 424; initialDepth = 63.007655; finalDepth = 69.092888; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.096974 # Actual altitude: 53.096974 # Commanded vehicle depth: 69.092888 # Seafloor depth: -122.189862 # 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 22 # Segment length 106.174109 meters # Minimum depth: 113.007655 meters looking forward 100.000000 meters along route # Maximum depth: 118.166816 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.007655 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.571941; longitude = -136.049632; duration = 424; initialDepth = 63.366972; finalDepth = 63.007655; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.159161 # Actual altitude: 55.159161 # Commanded vehicle depth: 63.007655 # Seafloor depth: -118.166816 # 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 22 # Segment length 110.267381 meters # Minimum depth: 113.366972 meters looking forward 100.000000 meters along route # Maximum depth: 115.781704 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.366972 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.571161; longitude = -136.047995; duration = 441; initialDepth = 65.884149; finalDepth = 63.366972; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.159161 # Actual altitude: 55.159161 # Commanded vehicle depth: 63.366972 # Seafloor depth: -113.366972 # 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 22 # Segment length 102.084828 meters # Minimum depth: 115.884149 meters looking forward 100.000000 meters along route # Maximum depth: 118.981865 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.884149 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.570350; longitude = -136.046295; duration = 408; initialDepth = 57.286442; finalDepth = 65.884149; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 65.884149 # Seafloor depth: -115.884149 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 106.178100 meters # Minimum depth: 107.286442 meters looking forward 100.000000 meters along route # Maximum depth: 117.252971 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.286442 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.569599; longitude = -136.044722; duration = 424; initialDepth = 57.687866; finalDepth = 57.286442; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.966529 # Actual altitude: 59.966529 # Commanded vehicle depth: 57.286442 # Seafloor depth: -117.252971 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 106.179430 meters # Minimum depth: 107.687866 meters looking forward 100.000000 meters along route # Maximum depth: 112.023464 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.687866 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.568818; longitude = -136.043085; duration = 424; initialDepth = 53.179223; finalDepth = 57.687866; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.966529 # Actual altitude: 59.966529 # Commanded vehicle depth: 57.687866 # Seafloor depth: -112.023464 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 106.180760 meters # Minimum depth: 103.179223 meters looking forward 100.000000 meters along route # Maximum depth: 106.826316 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.179223 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.568038; longitude = -136.041448; duration = 424; initialDepth = 52.073402; finalDepth = 53.179223; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.335598 # Actual altitude: 54.335598 # Commanded vehicle depth: 53.179223 # Seafloor depth: -106.826316 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 106.182090 meters # Minimum depth: 102.073402 meters looking forward 100.000000 meters along route # Maximum depth: 102.892608 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.073402 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.567257; longitude = -136.039812; duration = 424; initialDepth = 49.342902; finalDepth = 52.073402; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.647093 # Actual altitude: 53.647093 # Commanded vehicle depth: 52.073402 # Seafloor depth: -102.892608 # 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 22 # Segment length 110.751286 meters # Minimum depth: 99.342902 meters looking forward 100.000000 meters along route # Maximum depth: 102.206941 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 49.342902 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.566476; longitude = -136.038175; duration = 443; initialDepth = 49.403870; finalDepth = 49.342902; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.864039 # Actual altitude: 52.864039 # Commanded vehicle depth: 49.342902 # Seafloor depth: -102.206941 # 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; } # ####################################################### # # 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 150.035492 meters # Minimum depth: 99.403870 meters looking forward 100.000000 meters along route # Maximum depth: 101.226937 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 49.403870 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.565662; longitude = -136.036468; duration = 600; # abortOnTimeout = True; initialDepth = 49.912333; finalDepth = 49.403870; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.864039 # Actual altitude: 52.864039 # Commanded vehicle depth: 49.40387 # Seafloor depth: -99.403870 # 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; } # ####################################################### # # 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 178.826693 meters # Minimum depth: 99.912333 meters looking forward 100.000000 meters along route # Maximum depth: 103.832836 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 49.912333 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.564893; longitude = -136.039783; duration = 715; # abortOnTimeout = True; initialDepth = 53.142263; finalDepth = 49.912333; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 49.912333 # Seafloor depth: -99.912333 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 106.177608 meters # Minimum depth: 103.142263 meters looking forward 100.000000 meters along route # Maximum depth: 103.897921 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.142263 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.566208; longitude = -136.042539; duration = 424; initialDepth = 53.502935; finalDepth = 53.142263; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.755658 # Actual altitude: 50.755658 # Commanded vehicle depth: 53.142263 # Seafloor depth: -103.897921 # 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 20 # Segment length 106.176277 meters # Minimum depth: 103.502935 meters looking forward 100.000000 meters along route # Maximum depth: 107.594964 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.502935 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.566988; longitude = -136.044176; duration = 424; initialDepth = 59.186366; finalDepth = 53.502935; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.755658 # Actual altitude: 50.755658 # Commanded vehicle depth: 53.502935 # Seafloor depth: -103.502935 # 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 20 # Segment length 106.174948 meters # Minimum depth: 109.186366 meters looking forward 100.000000 meters along route # Maximum depth: 112.963954 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.186366 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.567769; longitude = -136.045813; duration = 424; initialDepth = 62.700014; finalDepth = 59.186366; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 59.186366 # Seafloor depth: -109.186366 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 106.173617 meters # Minimum depth: 112.700014 meters looking forward 100.000000 meters along route # Maximum depth: 117.080152 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.700014 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.568550; longitude = -136.047449; duration = 424; initialDepth = 64.396676; finalDepth = 62.700014; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 62.700014 # Seafloor depth: -112.700014 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 106.172287 meters # Minimum depth: 114.396676 meters looking forward 100.000000 meters along route # Maximum depth: 116.946549 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.396676 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.569330; longitude = -136.049086; duration = 424; initialDepth = 64.275792; finalDepth = 64.396676; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.549873 # Actual altitude: 52.549873 # Commanded vehicle depth: 64.396676 # Seafloor depth: -116.946549 # 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 20 # Segment length 106.659421 meters # Minimum depth: 114.275792 meters looking forward 100.000000 meters along route # Maximum depth: 117.879361 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.275792 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.570111; longitude = -136.050723; duration = 426; initialDepth = 63.924083; finalDepth = 64.275792; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.549873 # Actual altitude: 52.549873 # Commanded vehicle depth: 64.275792 # Seafloor depth: -114.333318 # 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 20 # Segment length 111.291817 meters # Minimum depth: 113.924083 meters looking forward 100.000000 meters along route # Maximum depth: 120.211221 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.924083 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.570895; longitude = -136.052367; duration = 445; initialDepth = 68.777833; finalDepth = 63.924083; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.944286 # Actual altitude: 53.944286 # Commanded vehicle depth: 63.924083 # Seafloor depth: -117.868369 # 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 20 # Segment length 100.557642 meters # Minimum depth: 118.777833 meters looking forward 100.000000 meters along route # Maximum depth: 120.138725 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 68.777833 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.571714; longitude = -136.054082; duration = 402; initialDepth = 69.831080; finalDepth = 68.777833; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.944286 # Actual altitude: 53.944286 # Commanded vehicle depth: 68.777833 # Seafloor depth: -118.777833 # 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 20 # Segment length 106.166967 meters # Minimum depth: 119.831080 meters looking forward 100.000000 meters along route # Maximum depth: 122.497178 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 69.831080 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.572453; longitude = -136.055633; duration = 424; initialDepth = 70.402050; finalDepth = 69.831080; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.190591 # Actual altitude: 50.190591 # Commanded vehicle depth: 69.83108 # Seafloor depth: -120.021671 # 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 20 # Segment length 106.165637 meters # Minimum depth: 120.402050 meters looking forward 100.000000 meters along route # Maximum depth: 123.846095 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 70.402050 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.573234; longitude = -136.057269; duration = 424; initialDepth = 74.549020; finalDepth = 70.402050; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.190591 # Actual altitude: 50.190591 # Commanded vehicle depth: 70.40205 # Seafloor depth: -120.560145 # 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 20 # Segment length 106.164307 meters # Minimum depth: 124.549020 meters looking forward 100.000000 meters along route # Maximum depth: 127.187005 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 74.549020 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.574014; longitude = -136.058906; duration = 424; initialDepth = 77.473460; finalDepth = 74.549020; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.158095 # Actual altitude: 50.158095 # Commanded vehicle depth: 74.54902 # Seafloor depth: -124.549020 # 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 20 # Segment length 106.162977 meters # Minimum depth: 127.473460 meters looking forward 100.000000 meters along route # Maximum depth: 128.866399 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 77.473460 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.574795; longitude = -136.060542; duration = 424; initialDepth = 79.104256; finalDepth = 77.473460; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 77.47346 # Seafloor depth: -127.473460 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 106.161647 meters # Minimum depth: 129.104256 meters looking forward 100.000000 meters along route # Maximum depth: 130.229530 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 79.104256 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.575576; longitude = -136.062179; duration = 424; initialDepth = 80.170651; finalDepth = 79.104256; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 79.104256 # Seafloor depth: -129.104256 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 110.528921 meters # Minimum depth: 130.170651 meters looking forward 100.000000 meters along route # Maximum depth: 132.960288 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 80.170651 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.576356; longitude = -136.063816; duration = 442; initialDepth = 83.011992; finalDepth = 80.170651; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 80.170651 # Seafloor depth: -130.170651 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.790384 meters # Minimum depth: 133.011992 meters looking forward 100.000000 meters along route # Maximum depth: 134.146230 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 83.011992 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.577169; longitude = -136.065520; duration = 407; initialDepth = 84.658313; finalDepth = 83.011992; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 83.011992 # Seafloor depth: -133.011992 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 106.157658 meters # Minimum depth: 134.658313 meters looking forward 100.000000 meters along route # Maximum depth: 137.869698 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 84.658313 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.577918; longitude = -136.067089; duration = 424; initialDepth = 88.439848; finalDepth = 84.658313; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 84.658313 # Seafloor depth: -134.658313 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 106.156328 meters # Minimum depth: 138.439848 meters looking forward 100.000000 meters along route # Maximum depth: 150.683605 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 88.439848 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.578698; longitude = -136.068726; duration = 424; initialDepth = 104.873726; finalDepth = 88.439848; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 88.439848 # Seafloor depth: -138.439848 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 106.154999 meters # Minimum depth: 154.873726 meters looking forward 100.000000 meters along route # Maximum depth: 166.615335 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 104.873726 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.579479; longitude = -136.070362; duration = 424; initialDepth = 117.984664; finalDepth = 104.873726; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 104.873726 # Seafloor depth: -154.873726 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 106.153668 meters # Minimum depth: 167.984664 meters looking forward 100.000000 meters along route # Maximum depth: 170.991037 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 117.984664 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.580260; longitude = -136.071999; duration = 424; initialDepth = 121.264564; finalDepth = 117.984664; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 117.984664 # Seafloor depth: -167.984664 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 106.152340 meters # Minimum depth: 171.264564 meters looking forward 100.000000 meters along route # Maximum depth: 178.984050 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 121.264564 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.581040; longitude = -136.073636; duration = 424; initialDepth = 129.178489; finalDepth = 121.264564; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 121.264564 # Seafloor depth: -171.264564 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 109.277781 meters # Minimum depth: 179.178489 meters looking forward 100.000000 meters along route # Maximum depth: 186.561511 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 129.178489 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.581821; longitude = -136.075272; duration = 437; initialDepth = 137.093881; finalDepth = 129.178489; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 129.178489 # Seafloor depth: -179.178489 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 103.022909 meters # Minimum depth: 187.093881 meters looking forward 100.000000 meters along route # Maximum depth: 190.229859 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 137.093881 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.582625; longitude = -136.076957; duration = 412; initialDepth = 141.672139; finalDepth = 137.093881; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 137.093881 # Seafloor depth: -187.093881 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 106.148350 meters # Minimum depth: 191.672139 meters looking forward 100.000000 meters along route # Maximum depth: 198.186144 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 141.672139 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.583382; longitude = -136.078546; duration = 424; initialDepth = 150.343495; finalDepth = 141.672139; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 141.672139 # Seafloor depth: -191.672139 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 106.147022 meters # Minimum depth: 200.343495 meters looking forward 100.000000 meters along route # Maximum depth: 202.270583 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 150.343495 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.584163; longitude = -136.080182; duration = 424; initialDepth = 151.565665; finalDepth = 150.343495; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 150.343495 # Seafloor depth: -200.343495 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 106.145691 meters # Minimum depth: 201.565665 meters looking forward 100.000000 meters along route # Maximum depth: 207.526457 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 151.565665 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.584944; longitude = -136.081819; duration = 424; initialDepth = 159.510893; finalDepth = 151.565665; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.787812 # Actual altitude: 50.787812 # Commanded vehicle depth: 151.565665 # Seafloor depth: -202.353477 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 106.144363 meters # Minimum depth: 209.510893 meters looking forward 100.000000 meters along route # Maximum depth: 212.245534 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 159.510893 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.585724; longitude = -136.083455; duration = 424; initialDepth = 161.420187; finalDepth = 159.510893; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.787812 # Actual altitude: 50.787812 # Commanded vehicle depth: 159.510893 # Seafloor depth: -209.510893 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 106.143033 meters # Minimum depth: 211.420187 meters looking forward 100.000000 meters along route # Maximum depth: 216.273478 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 161.420187 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.586505; longitude = -136.085092; duration = 424; initialDepth = 164.878748; finalDepth = 161.420187; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.803287 # Actual altitude: 50.803287 # Commanded vehicle depth: 161.420187 # Seafloor depth: -212.223474 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 108.026860 meters # Minimum depth: 214.878748 meters looking forward 100.000000 meters along route # Maximum depth: 216.101017 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 164.878748 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.587286; longitude = -136.086729; duration = 432; initialDepth = 166.034628; finalDepth = 164.878748; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.222269 # Actual altitude: 51.222269 # Commanded vehicle depth: 164.878748 # Seafloor depth: -216.101017 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 104.255219 meters # Minimum depth: 216.034628 meters looking forward 100.000000 meters along route # Maximum depth: 220.579819 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 166.034628 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.588080; longitude = -136.088394; duration = 417; initialDepth = 170.402705; finalDepth = 166.034628; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.222269 # Actual altitude: 51.222269 # Commanded vehicle depth: 166.034628 # Seafloor depth: -216.034628 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 106.139045 meters # Minimum depth: 220.402705 meters looking forward 100.000000 meters along route # Maximum depth: 224.460947 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 170.402705 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.588847; longitude = -136.090002; duration = 424; initialDepth = 173.622703; finalDepth = 170.402705; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.658247 # Actual altitude: 50.658247 # Commanded vehicle depth: 170.402705 # Seafloor depth: -221.060952 # 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 20 # Segment length 106.137716 meters # Minimum depth: 223.622703 meters looking forward 100.000000 meters along route # Maximum depth: 228.566834 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 173.622703 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.589627; longitude = -136.091639; duration = 424; initialDepth = 177.707297; finalDepth = 173.622703; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.658247 # Actual altitude: 50.658247 # Commanded vehicle depth: 173.622703 # Seafloor depth: -223.917291 # 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 20 # Segment length 106.136387 meters # Minimum depth: 227.707297 meters looking forward 100.000000 meters along route # Maximum depth: 229.898123 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 177.707297 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.590408; longitude = -136.093275; duration = 424; initialDepth = 181.417175; finalDepth = 177.707297; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.003754 # Actual altitude: 51.003754 # Commanded vehicle depth: 177.707297 # Seafloor depth: -228.711051 # 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 20 # Segment length 106.135058 meters # Minimum depth: 231.417175 meters looking forward 100.000000 meters along route # Maximum depth: 233.847056 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 181.417175 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.591189; longitude = -136.094912; duration = 424; initialDepth = 182.781001; finalDepth = 181.417175; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.003754 # Actual altitude: 51.003754 # Commanded vehicle depth: 181.417175 # Seafloor depth: -231.417175 # 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 20 # Segment length 106.133729 meters # Minimum depth: 232.781001 meters looking forward 100.000000 meters along route # Maximum depth: 237.638202 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 182.781001 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.591969; longitude = -136.096549; duration = 424; initialDepth = 187.595903; finalDepth = 182.781001; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 182.781001 # Seafloor depth: -232.781001 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 106.776158 meters # Minimum depth: 237.595903 meters looking forward 100.000000 meters along route # Maximum depth: 239.338068 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 187.595903 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.592750; longitude = -136.098185; duration = 427; initialDepth = 185.065494; finalDepth = 187.595903; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 187.595903 # Seafloor depth: -237.595903 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 111.251398 meters # Minimum depth: 235.065494 meters looking forward 100.000000 meters along route # Maximum depth: 245.608825 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 185.065494 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.593535; longitude = -136.099832; duration = 445; initialDepth = 194.770956; finalDepth = 185.065494; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.311299 # Actual altitude: 54.311299 # Commanded vehicle depth: 185.065494 # Seafloor depth: -239.376793 # 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 20 # Segment length 100.365656 meters # Minimum depth: 244.770956 meters looking forward 100.000000 meters along route # Maximum depth: 248.373936 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 194.770956 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.594354; longitude = -136.101547; duration = 401; initialDepth = 197.774909; finalDepth = 194.770956; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.311299 # Actual altitude: 54.311299 # Commanded vehicle depth: 194.770956 # Seafloor depth: -245.655158 # 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 20 # Segment length 106.128413 meters # Minimum depth: 247.774909 meters looking forward 100.000000 meters along route # Maximum depth: 254.312563 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 197.774909 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.595092; longitude = -136.103095; duration = 424; initialDepth = 202.022203; finalDepth = 197.774909; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.032184 # Actual altitude: 51.032184 # Commanded vehicle depth: 197.774909 # Seafloor depth: -248.807093 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 106.127084 meters # Minimum depth: 252.022203 meters looking forward 100.000000 meters along route # Maximum depth: 254.525734 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 202.022203 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.595873; longitude = -136.104732; duration = 424; initialDepth = 201.900537; finalDepth = 202.022203; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.032184 # Actual altitude: 51.032184 # Commanded vehicle depth: 202.022203 # Seafloor depth: -252.984783 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 106.125755 meters # Minimum depth: 251.900537 meters looking forward 100.000000 meters along route # Maximum depth: 258.180660 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 201.900537 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.596653; longitude = -136.106368; duration = 424; initialDepth = 209.026824; finalDepth = 201.900537; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.120185 # Actual altitude: 53.120185 # Commanded vehicle depth: 201.900537 # Seafloor depth: -255.020722 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 106.124426 meters # Minimum depth: 259.026824 meters looking forward 100.000000 meters along route # Maximum depth: 262.920211 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 209.026824 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.597434; longitude = -136.108005; duration = 424; initialDepth = 212.619851; finalDepth = 209.026824; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.120185 # Actual altitude: 53.120185 # Commanded vehicle depth: 209.026824 # Seafloor depth: -259.026824 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 106.123098 meters # Minimum depth: 262.619851 meters looking forward 100.000000 meters along route # Maximum depth: 265.092969 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 212.619851 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.598215; longitude = -136.109642; duration = 424; initialDepth = 214.782091; finalDepth = 212.619851; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.163202 # Actual altitude: 50.163202 # Commanded vehicle depth: 212.619851 # Seafloor depth: -262.783053 # 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 20 # Segment length 110.644242 meters # Minimum depth: 264.782091 meters looking forward 100.000000 meters along route # Maximum depth: 267.837143 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 214.782091 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.598995; longitude = -136.111278; duration = 442; initialDepth = 216.697333; finalDepth = 214.782091; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.163202 # Actual altitude: 50.163202 # Commanded vehicle depth: 214.782091 # Seafloor depth: -264.782091 # 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 20 # Segment length 101.597967 meters # Minimum depth: 266.697333 meters looking forward 100.000000 meters along route # Maximum depth: 271.756749 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 216.697333 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.599809; longitude = -136.112985; duration = 406; initialDepth = 219.625041; finalDepth = 216.697333; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.542869 # Actual altitude: 50.542869 # Commanded vehicle depth: 216.697333 # Seafloor depth: -267.240202 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 106.119111 meters # Minimum depth: 269.625041 meters looking forward 100.000000 meters along route # Maximum depth: 271.951938 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 219.625041 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.600557; longitude = -136.114552; duration = 424; initialDepth = 221.198333; finalDepth = 219.625041; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.326897 # Actual altitude: 52.326897 # Commanded vehicle depth: 219.625041 # Seafloor depth: -271.951938 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 106.117783 meters # Minimum depth: 271.198333 meters looking forward 100.000000 meters along route # Maximum depth: 273.406694 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 221.198333 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.601337; longitude = -136.116188; duration = 424; initialDepth = 225.860423; finalDepth = 221.198333; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.326897 # Actual altitude: 52.326897 # Commanded vehicle depth: 221.198333 # Seafloor depth: -271.198333 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 106.116454 meters # Minimum depth: 275.860423 meters looking forward 100.000000 meters along route # Maximum depth: 277.367488 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 225.860423 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.602118; longitude = -136.117825; duration = 424; initialDepth = 228.636361; finalDepth = 225.860423; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 225.860423 # Seafloor depth: -275.860423 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 106.115126 meters # Minimum depth: 278.636361 meters looking forward 100.000000 meters along route # Maximum depth: 281.810632 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 228.636361 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.602899; longitude = -136.119462; duration = 424; initialDepth = 232.389620; finalDepth = 228.636361; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 228.636361 # Seafloor depth: -278.636361 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 106.113797 meters # Minimum depth: 282.389620 meters looking forward 100.000000 meters along route # Maximum depth: 287.092157 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 232.389620 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.603679; longitude = -136.121098; duration = 424; initialDepth = 235.931757; finalDepth = 232.389620; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 232.38962 # Seafloor depth: -282.389620 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 109.393546 meters # Minimum depth: 285.931757 meters looking forward 100.000000 meters along route # Maximum depth: 291.922713 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 235.931757 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.604460; longitude = -136.122735; duration = 437; initialDepth = 240.448583; finalDepth = 235.931757; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 235.931757 # Seafloor depth: -285.931757 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.830062 meters # Minimum depth: 290.448583 meters looking forward 100.000000 meters along route # Maximum depth: 294.569821 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 240.448583 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.605265; longitude = -136.124422; duration = 411; initialDepth = 245.258363; finalDepth = 240.448583; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.688221 # Actual altitude: 51.688221 # Commanded vehicle depth: 240.448583 # Seafloor depth: -292.136804 # 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 20 # Segment length 100.682726 meters # Minimum depth: 295.258363 meters looking forward 100.000000 meters along route # Maximum depth: 300.025066 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 245.258363 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.606021; longitude = -136.126008; duration = 402; initialDepth = 249.112508; finalDepth = 245.258363; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.688221 # Actual altitude: 51.688221 # Commanded vehicle depth: 245.258363 # Seafloor depth: -296.719588 # 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; } # ####################################################### # # 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 150.049935 meters # Minimum depth: 299.112508 meters looking forward 100.000000 meters along route # Maximum depth: 301.312142 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 249.112508 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.606762; longitude = -136.127561; duration = 600; # abortOnTimeout = True; initialDepth = 245.124883; finalDepth = 249.112508; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.461225 # Actual altitude: 51.461225 # Commanded vehicle depth: 249.112508 # Seafloor depth: -299.173065 # 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; } # ####################################################### # # 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 174.311165 meters # Minimum depth: 295.124883 meters looking forward 100.000000 meters along route # Maximum depth: 299.338783 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 245.124883 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.605991; longitude = -136.130879; duration = 697; # abortOnTimeout = True; initialDepth = 240.239506; finalDepth = 245.124883; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.2139 # Actual altitude: 54.2139 # Commanded vehicle depth: 245.124883 # Seafloor depth: -299.338783 # 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 18 # Segment length 109.802633 meters # Minimum depth: 290.239506 meters looking forward 100.000000 meters along route # Maximum depth: 296.464976 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 240.239506 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.604709; longitude = -136.128190; duration = 439; initialDepth = 236.173463; finalDepth = 240.239506; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.22547 # Actual altitude: 56.22547 # Commanded vehicle depth: 240.239506 # Seafloor depth: -296.464976 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 102.408736 meters # Minimum depth: 286.173463 meters looking forward 100.000000 meters along route # Maximum depth: 290.283330 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 236.173463 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.603901; longitude = -136.126497; duration = 409; initialDepth = 232.643516; finalDepth = 236.173463; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.22547 # Actual altitude: 56.22547 # Commanded vehicle depth: 236.173463 # Seafloor depth: -290.283330 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 106.107677 meters # Minimum depth: 282.643516 meters looking forward 100.000000 meters along route # Maximum depth: 287.926124 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 232.643516 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.603148; longitude = -136.124917; duration = 424; initialDepth = 230.181412; finalDepth = 232.643516; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.282608 # Actual altitude: 55.282608 # Commanded vehicle depth: 232.643516 # Seafloor depth: -287.926124 # 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 18 # Segment length 106.109006 meters # Minimum depth: 280.181412 meters looking forward 100.000000 meters along route # Maximum depth: 284.270860 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 230.181412 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.602367; longitude = -136.123280; duration = 424; initialDepth = 224.578135; finalDepth = 230.181412; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.282608 # Actual altitude: 55.282608 # Commanded vehicle depth: 230.181412 # Seafloor depth: -284.270860 # 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 18 # Segment length 106.110334 meters # Minimum depth: 274.578135 meters looking forward 100.000000 meters along route # Maximum depth: 280.321318 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 224.578135 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.601586; longitude = -136.121644; duration = 424; initialDepth = 221.365662; finalDepth = 224.578135; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.743183 # Actual altitude: 55.743183 # Commanded vehicle depth: 224.578135 # Seafloor depth: -280.321318 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 106.111663 meters # Minimum depth: 271.365662 meters looking forward 100.000000 meters along route # Maximum depth: 275.793475 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 221.365662 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.600806; longitude = -136.120007; duration = 424; initialDepth = 219.494432; finalDepth = 221.365662; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.743183 # Actual altitude: 55.743183 # Commanded vehicle depth: 221.365662 # Seafloor depth: -274.645551 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 106.112992 meters # Minimum depth: 269.494432 meters looking forward 100.000000 meters along route # Maximum depth: 271.849592 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 219.494432 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.600025; longitude = -136.118370; duration = 424; initialDepth = 217.866046; finalDepth = 219.494432; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.279889 # Actual altitude: 53.279889 # Commanded vehicle depth: 219.494432 # Seafloor depth: -270.184332 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 108.658153 meters # Minimum depth: 267.866046 meters looking forward 100.000000 meters along route # Maximum depth: 271.847021 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 217.866046 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.599245; longitude = -136.116734; duration = 434; initialDepth = 213.590555; finalDepth = 217.866046; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.980975 # Actual altitude: 53.980975 # Commanded vehicle depth: 217.866046 # Seafloor depth: -271.847021 # 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 18 # Segment length 103.571816 meters # Minimum depth: 263.590555 meters looking forward 100.000000 meters along route # Maximum depth: 267.568941 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 213.590555 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.598445; longitude = -136.115058; duration = 414; initialDepth = 210.586094; finalDepth = 213.590555; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.980975 # Actual altitude: 53.980975 # Commanded vehicle depth: 213.590555 # Seafloor depth: -267.568941 # 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 18 # Segment length 106.116977 meters # Minimum depth: 260.586094 meters looking forward 100.000000 meters along route # Maximum depth: 264.487427 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 210.586094 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.597684; longitude = -136.113460; duration = 424; initialDepth = 207.266494; finalDepth = 210.586094; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.978386 # Actual altitude: 53.978386 # Commanded vehicle depth: 210.586094 # Seafloor depth: -264.367768 # 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 18 # Segment length 106.118307 meters # Minimum depth: 257.266494 meters looking forward 100.000000 meters along route # Maximum depth: 259.675958 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 207.266494 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.596903; longitude = -136.111824; duration = 424; initialDepth = 199.399403; finalDepth = 207.266494; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.781674 # Actual altitude: 53.781674 # Commanded vehicle depth: 207.266494 # Seafloor depth: -259.675958 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 106.119635 meters # Minimum depth: 249.399403 meters looking forward 100.000000 meters along route # Maximum depth: 258.358334 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 199.399403 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.596122; longitude = -136.110187; duration = 424; initialDepth = 201.057052; finalDepth = 199.399403; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.271602 # Actual altitude: 58.271602 # Commanded vehicle depth: 199.399403 # Seafloor depth: -257.671005 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 106.120964 meters # Minimum depth: 251.057052 meters looking forward 100.000000 meters along route # Maximum depth: 252.975760 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 201.057052 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.595342; longitude = -136.108551; duration = 424; initialDepth = 195.286939; finalDepth = 201.057052; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.271602 # Actual altitude: 58.271602 # Commanded vehicle depth: 201.057052 # Seafloor depth: -252.975760 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 106.122293 meters # Minimum depth: 245.286939 meters looking forward 100.000000 meters along route # Maximum depth: 249.731583 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 195.286939 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.594561; longitude = -136.106914; duration = 424; initialDepth = 191.126663; finalDepth = 195.286939; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.444644 # Actual altitude: 54.444644 # Commanded vehicle depth: 195.286939 # Seafloor depth: -249.731583 # 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 18 # Segment length 107.513473 meters # Minimum depth: 241.126663 meters looking forward 100.000000 meters along route # Maximum depth: 247.144778 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 191.126663 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.593781; longitude = -136.105277; duration = 430; initialDepth = 190.644640; finalDepth = 191.126663; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.187445 # Actual altitude: 55.187445 # Commanded vehicle depth: 191.126663 # Seafloor depth: -246.314108 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 104.735099 meters # Minimum depth: 240.644640 meters looking forward 100.000000 meters along route # Maximum depth: 241.944342 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 190.644640 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.592990; longitude = -136.103619; duration = 418; initialDepth = 185.581502; finalDepth = 190.644640; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.187445 # Actual altitude: 55.187445 # Commanded vehicle depth: 190.64464 # Seafloor depth: -240.936154 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 106.126280 meters # Minimum depth: 235.581502 meters looking forward 100.000000 meters along route # Maximum depth: 240.569852 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 185.581502 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.592220; longitude = -136.102004; duration = 424; initialDepth = 184.116872; finalDepth = 185.581502; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.98835 # Actual altitude: 54.98835 # Commanded vehicle depth: 185.581502 # Seafloor depth: -240.569852 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 106.127609 meters # Minimum depth: 234.116872 meters looking forward 100.000000 meters along route # Maximum depth: 235.329470 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 184.116872 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.591439; longitude = -136.100367; duration = 424; initialDepth = 177.281119; finalDepth = 184.116872; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.98835 # Actual altitude: 54.98835 # Commanded vehicle depth: 184.116872 # Seafloor depth: -234.881343 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 106.128938 meters # Minimum depth: 227.281119 meters looking forward 100.000000 meters along route # Maximum depth: 232.587213 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 177.281119 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.590658; longitude = -136.098731; duration = 424; initialDepth = 174.743028; finalDepth = 177.281119; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.306094 # Actual altitude: 55.306094 # Commanded vehicle depth: 177.281119 # Seafloor depth: -232.587213 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 106.130267 meters # Minimum depth: 224.743028 meters looking forward 100.000000 meters along route # Maximum depth: 228.528737 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 174.743028 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.589878; longitude = -136.097094; duration = 424; initialDepth = 170.964270; finalDepth = 174.743028; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.306094 # Actual altitude: 55.306094 # Commanded vehicle depth: 174.743028 # Seafloor depth: -227.579114 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 106.131596 meters # Minimum depth: 220.964270 meters looking forward 100.000000 meters along route # Maximum depth: 224.778379 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 170.964270 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.589097; longitude = -136.095457; duration = 424; initialDepth = 168.244918; finalDepth = 170.964270; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.143061 # Actual altitude: 53.143061 # Commanded vehicle depth: 170.96427 # Seafloor depth: -224.107331 # 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 18 # Segment length 106.368593 meters # Minimum depth: 218.244918 meters looking forward 100.000000 meters along route # Maximum depth: 220.835901 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 168.244918 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.588317; longitude = -136.093821; duration = 425; initialDepth = 164.921739; finalDepth = 168.244918; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.143061 # Actual altitude: 53.143061 # Commanded vehicle depth: 168.244918 # Seafloor depth: -220.835901 # 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 18 # Segment length 111.267857 meters # Minimum depth: 214.921739 meters looking forward 100.000000 meters along route # Maximum depth: 218.207794 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 164.921739 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.587534; longitude = -136.092181; duration = 445; initialDepth = 161.735347; finalDepth = 164.921739; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.286055 # Actual altitude: 53.286055 # Commanded vehicle depth: 164.921739 # Seafloor depth: -218.207794 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.766314 meters # Minimum depth: 211.735347 meters looking forward 100.000000 meters along route # Maximum depth: 216.354628 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 161.735347 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.586716; longitude = -136.090465; duration = 403; initialDepth = 160.099243; finalDepth = 161.735347; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.286055 # Actual altitude: 53.286055 # Commanded vehicle depth: 161.735347 # Seafloor depth: -215.001727 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 106.136913 meters # Minimum depth: 210.099243 meters looking forward 100.000000 meters along route # Maximum depth: 212.053173 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 160.099243 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.585975; longitude = -136.088911; duration = 424; initialDepth = 151.930035; finalDepth = 160.099243; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.26638 # Actual altitude: 53.26638 # Commanded vehicle depth: 160.099243 # Seafloor depth: -211.701418 # 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 18 # Segment length 106.138242 meters # Minimum depth: 201.930035 meters looking forward 100.000000 meters along route # Maximum depth: 208.185013 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 151.930035 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.585195; longitude = -136.087274; duration = 424; initialDepth = 148.990835; finalDepth = 151.930035; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.254978 # Actual altitude: 56.254978 # Commanded vehicle depth: 151.930035 # Seafloor depth: -208.185013 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 106.139572 meters # Minimum depth: 198.990835 meters looking forward 100.000000 meters along route # Maximum depth: 201.419300 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 148.990835 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.584414; longitude = -136.085638; duration = 424; initialDepth = 142.344358; finalDepth = 148.990835; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.254978 # Actual altitude: 56.254978 # Commanded vehicle depth: 148.990835 # Seafloor depth: -201.163203 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 106.140901 meters # Minimum depth: 192.344358 meters looking forward 100.000000 meters along route # Maximum depth: 200.235744 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 142.344358 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.583633; longitude = -136.084001; duration = 424; initialDepth = 138.674422; finalDepth = 142.344358; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.516113 # Actual altitude: 57.516113 # Commanded vehicle depth: 142.344358 # Seafloor depth: -199.860471 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 106.142230 meters # Minimum depth: 188.674422 meters looking forward 100.000000 meters along route # Maximum depth: 191.906075 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 138.674422 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.582853; longitude = -136.082364; duration = 424; initialDepth = 127.427044; finalDepth = 138.674422; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.516113 # Actual altitude: 57.516113 # Commanded vehicle depth: 138.674422 # Seafloor depth: -191.906075 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 110.358879 meters # Minimum depth: 177.427044 meters looking forward 100.000000 meters along route # Maximum depth: 188.656064 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 127.427044 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.582072; longitude = -136.080728; duration = 441; initialDepth = 126.822652; finalDepth = 127.427044; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.22902 # Actual altitude: 61.22902 # Commanded vehicle depth: 127.427044 # Seafloor depth: -188.656064 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.929571 meters # Minimum depth: 176.822652 meters looking forward 100.000000 meters along route # Maximum depth: 178.490441 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 126.822652 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.581261; longitude = -136.079026; duration = 407; initialDepth = 123.334896; finalDepth = 126.822652; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.22902 # Actual altitude: 61.22902 # Commanded vehicle depth: 126.822652 # Seafloor depth: -177.566529 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 106.146219 meters # Minimum depth: 173.334896 meters looking forward 100.000000 meters along route # Maximum depth: 177.160109 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 123.334896 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.580511; longitude = -136.077454; duration = 424; initialDepth = 110.366580; finalDepth = 123.334896; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.825213 # Actual altitude: 53.825213 # Commanded vehicle depth: 123.334896 # Seafloor depth: -177.160109 # 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 18 # Segment length 106.147548 meters # Minimum depth: 160.366580 meters looking forward 100.000000 meters along route # Maximum depth: 175.084865 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 110.366580 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.579731; longitude = -136.075818; duration = 424; initialDepth = 101.731694; finalDepth = 110.366580; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.718285 # Actual altitude: 64.718285 # Commanded vehicle depth: 110.36658 # Seafloor depth: -175.084865 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 106.148879 meters # Minimum depth: 151.731694 meters looking forward 100.000000 meters along route # Maximum depth: 161.413861 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 101.731694 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.578950; longitude = -136.074181; duration = 424; initialDepth = 85.301513; finalDepth = 101.731694; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.718285 # Actual altitude: 64.718285 # Commanded vehicle depth: 101.731694 # Seafloor depth: -160.986915 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 106.150208 meters # Minimum depth: 135.301513 meters looking forward 100.000000 meters along route # Maximum depth: 147.628225 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 85.301513 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.578169; longitude = -136.072544; duration = 424; initialDepth = 82.387478; finalDepth = 85.301513; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.326712 # Actual altitude: 62.326712 # Commanded vehicle depth: 85.301513 # Seafloor depth: -147.628225 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 106.151537 meters # Minimum depth: 132.387478 meters looking forward 100.000000 meters along route # Maximum depth: 135.108106 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 82.387478 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.577389; longitude = -136.070908; duration = 424; initialDepth = 80.237684; finalDepth = 82.387478; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.326712 # Actual altitude: 62.326712 # Commanded vehicle depth: 82.387478 # Seafloor depth: -135.108106 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 109.214033 meters # Minimum depth: 130.237684 meters looking forward 100.000000 meters along route # Maximum depth: 132.347924 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 80.237684 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.576608; longitude = -136.069271; duration = 436; initialDepth = 79.646424; finalDepth = 80.237684; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.720628 # Actual altitude: 52.720628 # Commanded vehicle depth: 80.237684 # Seafloor depth: -132.347924 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 103.093031 meters # Minimum depth: 129.646424 meters looking forward 100.000000 meters along route # Maximum depth: 130.180083 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 79.646424 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.575805; longitude = -136.067587; duration = 412; initialDepth = 79.205346; finalDepth = 79.646424; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.11024 # Actual altitude: 52.11024 # Commanded vehicle depth: 79.646424 # Seafloor depth: -130.180083 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 106.155527 meters # Minimum depth: 129.205346 meters looking forward 100.000000 meters along route # Maximum depth: 129.852907 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 79.205346 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.575047; longitude = -136.065998; duration = 424; initialDepth = 76.110490; finalDepth = 79.205346; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.533659 # Actual altitude: 50.533659 # Commanded vehicle depth: 79.205346 # Seafloor depth: -129.535103 # 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 18 # Segment length 106.156857 meters # Minimum depth: 126.110490 meters looking forward 100.000000 meters along route # Maximum depth: 129.554376 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 76.110490 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.574267; longitude = -136.064361; duration = 424; initialDepth = 68.886986; finalDepth = 76.110490; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.443886 # Actual altitude: 53.443886 # Commanded vehicle depth: 76.11049 # Seafloor depth: -129.554376 # 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 18 # Segment length 106.158187 meters # Minimum depth: 118.886986 meters looking forward 100.000000 meters along route # Maximum depth: 125.624932 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 68.886986 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.573486; longitude = -136.062725; duration = 424; initialDepth = 69.790706; finalDepth = 68.886986; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.737946 # Actual altitude: 56.737946 # Commanded vehicle depth: 68.886986 # Seafloor depth: -125.624932 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 106.159516 meters # Minimum depth: 119.790706 meters looking forward 100.000000 meters along route # Maximum depth: 122.648386 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 69.790706 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.572705; longitude = -136.061088; duration = 424; initialDepth = 66.208726; finalDepth = 69.790706; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.737946 # Actual altitude: 56.737946 # Commanded vehicle depth: 69.790706 # Seafloor depth: -122.648386 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 106.160846 meters # Minimum depth: 116.208726 meters looking forward 100.000000 meters along route # Maximum depth: 119.748199 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.208726 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.571925; longitude = -136.059451; duration = 424; initialDepth = 60.065182; finalDepth = 66.208726; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.539473 # Actual altitude: 53.539473 # Commanded vehicle depth: 66.208726 # Seafloor depth: -119.748199 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 108.068987 meters # Minimum depth: 110.065182 meters looking forward 100.000000 meters along route # Maximum depth: 116.085369 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.065182 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.571144; longitude = -136.057815; duration = 432; initialDepth = 60.028540; finalDepth = 60.065182; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.020187 # Actual altitude: 56.020187 # Commanded vehicle depth: 60.065182 # Seafloor depth: -116.085369 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 104.256696 meters # Minimum depth: 110.028540 meters looking forward 100.000000 meters along route # Maximum depth: 113.818015 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.028540 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.570350; longitude = -136.056149; duration = 417; initialDepth = 64.425052; finalDepth = 60.028540; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.020187 # Actual altitude: 56.020187 # Commanded vehicle depth: 60.02854 # Seafloor depth: -110.028540 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 106.164837 meters # Minimum depth: 114.425052 meters looking forward 100.000000 meters along route # Maximum depth: 118.533827 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.425052 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.569583; longitude = -136.054541; duration = 424; initialDepth = 67.403087; finalDepth = 64.425052; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 64.425052 # Seafloor depth: -114.425052 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 106.166166 meters # Minimum depth: 117.403087 meters looking forward 100.000000 meters along route # Maximum depth: 120.020061 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 67.403087 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.568803; longitude = -136.052905; duration = 424; initialDepth = 59.359799; finalDepth = 67.403087; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.142552 # Actual altitude: 52.142552 # Commanded vehicle depth: 67.403087 # Seafloor depth: -119.545639 # 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 18 # Segment length 106.167497 meters # Minimum depth: 109.359799 meters looking forward 100.000000 meters along route # Maximum depth: 115.088727 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.359799 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.568022; longitude = -136.051268; duration = 424; initialDepth = 53.044499; finalDepth = 59.359799; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.728928 # Actual altitude: 55.728928 # Commanded vehicle depth: 59.359799 # Seafloor depth: -115.088727 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 106.168827 meters # Minimum depth: 103.044499 meters looking forward 100.000000 meters along route # Maximum depth: 107.998987 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.044499 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.567242; longitude = -136.049632; duration = 424; initialDepth = 52.381139; finalDepth = 53.044499; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.728928 # Actual altitude: 55.728928 # Commanded vehicle depth: 53.044499 # Seafloor depth: -107.998987 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 106.170157 meters # Minimum depth: 102.381139 meters looking forward 100.000000 meters along route # Maximum depth: 103.522858 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.381139 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.566461; longitude = -136.047995; duration = 424; initialDepth = 51.057726; finalDepth = 52.381139; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.954488 # Actual altitude: 54.954488 # Commanded vehicle depth: 52.381139 # Seafloor depth: -103.071237 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 106.923739 meters # Minimum depth: 101.057726 meters looking forward 100.000000 meters along route # Maximum depth: 102.254161 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 51.057726 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.565680; longitude = -136.046358; duration = 427; initialDepth = 50.965543; finalDepth = 51.057726; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.196435 # Actual altitude: 51.196435 # Commanded vehicle depth: 51.057726 # Seafloor depth: -102.254161 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 104.639899 meters # Minimum depth: 100.965543 meters looking forward 100.000000 meters along route # Maximum depth: 103.110961 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 50.965543 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.564894; longitude = -136.044710; duration = 418; initialDepth = 49.989237; finalDepth = 50.965543; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.196435 # Actual altitude: 51.196435 # Commanded vehicle depth: 50.965543 # Seafloor depth: -101.324376 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 150.012721 meters # Minimum depth: 99.989237 meters looking forward 100.000000 meters along route # Maximum depth: 100.728704 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 49.989237 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.564125; longitude = -136.043097; duration = 600; # abortOnTimeout = True; initialDepth = 50.480225; finalDepth = 49.989237; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.739467 # Actual altitude: 50.739467 # Commanded vehicle depth: 49.989237 # Seafloor depth: -100.728704 # 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; } # ####################################################### # # 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 173.525815 meters # Minimum depth: 100.480225 meters looking forward 100.000000 meters along route # Maximum depth: 102.342049 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 50.480225 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.563356; longitude = -136.046411; duration = 694; # abortOnTimeout = True; initialDepth = 50.964481; finalDepth = 50.480225; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.739467 # Actual altitude: 50.739467 # Commanded vehicle depth: 50.480225 # Seafloor depth: -100.480225 # 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 16 # Segment length 109.926302 meters # Minimum depth: 100.964481 meters looking forward 100.000000 meters along route # Maximum depth: 103.417465 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 50.964481 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.564632; longitude = -136.049086; duration = 439; initialDepth = 53.527268; finalDepth = 50.964481; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 50.964481 # Seafloor depth: -100.964481 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 102.406379 meters # Minimum depth: 103.527268 meters looking forward 100.000000 meters along route # Maximum depth: 104.884427 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.527268 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.565440; longitude = -136.050781; duration = 409; initialDepth = 55.242168; finalDepth = 53.527268; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 53.527268 # Seafloor depth: -103.527268 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 106.164345 meters # Minimum depth: 105.242168 meters looking forward 100.000000 meters along route # Maximum depth: 108.170786 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.242168 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.566193; longitude = -136.052359; duration = 424; initialDepth = 58.856575; finalDepth = 55.242168; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 55.242168 # Seafloor depth: -105.242168 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 106.163016 meters # Minimum depth: 108.856575 meters looking forward 100.000000 meters along route # Maximum depth: 114.420585 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.856575 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.566973; longitude = -136.053996; duration = 424; initialDepth = 63.813992; finalDepth = 58.856575; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 58.856575 # Seafloor depth: -108.856575 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 106.161685 meters # Minimum depth: 113.813992 meters looking forward 100.000000 meters along route # Maximum depth: 117.419272 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.813992 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.567754; longitude = -136.055633; duration = 424; initialDepth = 65.523286; finalDepth = 63.813992; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.862402 # Actual altitude: 51.862402 # Commanded vehicle depth: 63.813992 # Seafloor depth: -115.676394 # 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 16 # Segment length 106.160355 meters # Minimum depth: 115.523286 meters looking forward 100.000000 meters along route # Maximum depth: 116.247643 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.523286 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.568534; longitude = -136.057269; duration = 424; initialDepth = 64.585112; finalDepth = 65.523286; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.862402 # Actual altitude: 51.862402 # Commanded vehicle depth: 65.523286 # Seafloor depth: -115.957613 # 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 16 # Segment length 106.159025 meters # Minimum depth: 114.585112 meters looking forward 100.000000 meters along route # Maximum depth: 117.297262 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.585112 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.569315; longitude = -136.058906; duration = 424; initialDepth = 63.736223; finalDepth = 64.585112; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.149573 # Actual altitude: 51.149573 # Commanded vehicle depth: 64.585112 # Seafloor depth: -115.734685 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 108.813633 meters # Minimum depth: 113.736223 meters looking forward 100.000000 meters along route # Maximum depth: 121.138661 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.736223 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.570095; longitude = -136.060542; duration = 435; initialDepth = 70.293840; finalDepth = 63.736223; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.000361 # Actual altitude: 53.000361 # Commanded vehicle depth: 63.736223 # Seafloor depth: -116.736584 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 103.500427 meters # Minimum depth: 120.293840 meters looking forward 100.000000 meters along route # Maximum depth: 122.014728 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 70.293840 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.570895; longitude = -136.062220; duration = 414; initialDepth = 73.576203; finalDepth = 70.293840; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.000361 # Actual altitude: 53.000361 # Commanded vehicle depth: 70.29384 # Seafloor depth: -121.547989 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 106.155035 meters # Minimum depth: 123.576203 meters looking forward 100.000000 meters along route # Maximum depth: 124.537882 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 73.576203 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.571656; longitude = -136.063816; duration = 424; initialDepth = 72.788012; finalDepth = 73.576203; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.254149 # Actual altitude: 51.254149 # Commanded vehicle depth: 73.576203 # Seafloor depth: -123.576203 # 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 16 # Segment length 106.153705 meters # Minimum depth: 122.788012 meters looking forward 100.000000 meters along route # Maximum depth: 125.136004 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 72.788012 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.572437; longitude = -136.065452; duration = 424; initialDepth = 76.082297; finalDepth = 72.788012; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.159946 # Actual altitude: 51.159946 # Commanded vehicle depth: 72.788012 # Seafloor depth: -123.947958 # 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 16 # Segment length 106.152376 meters # Minimum depth: 126.082297 meters looking forward 100.000000 meters along route # Maximum depth: 127.456846 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 76.082297 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.573217; longitude = -136.067089; duration = 424; initialDepth = 77.775141; finalDepth = 76.082297; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.159946 # Actual altitude: 51.159946 # Commanded vehicle depth: 76.082297 # Seafloor depth: -126.082297 # 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 16 # Segment length 106.151046 meters # Minimum depth: 127.775141 meters looking forward 100.000000 meters along route # Maximum depth: 128.656784 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 77.775141 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.573998; longitude = -136.068726; duration = 424; initialDepth = 78.667245; finalDepth = 77.775141; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 77.775141 # Seafloor depth: -127.775141 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 106.149716 meters # Minimum depth: 128.667245 meters looking forward 100.000000 meters along route # Maximum depth: 130.717008 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 78.667245 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.574778; longitude = -136.070362; duration = 424; initialDepth = 80.825154; finalDepth = 78.667245; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 78.667245 # Seafloor depth: -128.667245 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 107.701159 meters # Minimum depth: 130.825154 meters looking forward 100.000000 meters along route # Maximum depth: 133.564705 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 80.825154 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.575559; longitude = -136.071999; duration = 430; initialDepth = 83.604320; finalDepth = 80.825154; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 80.825154 # Seafloor depth: -130.825154 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 104.594283 meters # Minimum depth: 133.604320 meters looking forward 100.000000 meters along route # Maximum depth: 138.309793 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 83.604320 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.576351; longitude = -136.073660; duration = 418; initialDepth = 91.811214; finalDepth = 83.604320; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 83.60432 # Seafloor depth: -133.604320 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 106.145727 meters # Minimum depth: 141.811214 meters looking forward 100.000000 meters along route # Maximum depth: 158.886322 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 91.811214 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.577120; longitude = -136.075272; duration = 424; initialDepth = 111.389125; finalDepth = 91.811214; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 91.811214 # Seafloor depth: -141.811214 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 106.144398 meters # Minimum depth: 161.389125 meters looking forward 100.000000 meters along route # Maximum depth: 170.699396 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 111.389125 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.577900; longitude = -136.076909; duration = 424; initialDepth = 118.794487; finalDepth = 111.389125; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 111.389125 # Seafloor depth: -161.389125 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 106.143067 meters # Minimum depth: 168.794487 meters looking forward 100.000000 meters along route # Maximum depth: 172.091172 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 118.794487 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.578681; longitude = -136.078546; duration = 424; initialDepth = 119.460857; finalDepth = 118.794487; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.744394 # Actual altitude: 52.744394 # Commanded vehicle depth: 118.794487 # Seafloor depth: -171.538881 # 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 16 # Segment length 106.141739 meters # Minimum depth: 169.460857 meters looking forward 100.000000 meters along route # Maximum depth: 181.826136 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 119.460857 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.579461; longitude = -136.080182; duration = 424; initialDepth = 131.689284; finalDepth = 119.460857; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.744394 # Actual altitude: 52.744394 # Commanded vehicle depth: 119.460857 # Seafloor depth: -169.460857 # 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 16 # Segment length 106.140408 meters # Minimum depth: 181.689284 meters looking forward 100.000000 meters along route # Maximum depth: 187.968626 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 131.689284 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.580242; longitude = -136.081819; duration = 424; initialDepth = 136.288140; finalDepth = 131.689284; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.004995 # Actual altitude: 50.004995 # Commanded vehicle depth: 131.689284 # Seafloor depth: -181.694279 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 106.588882 meters # Minimum depth: 186.288140 meters looking forward 100.000000 meters along route # Maximum depth: 187.836311 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 136.288140 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.581022; longitude = -136.083455; duration = 426; initialDepth = 136.972461; finalDepth = 136.288140; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.548171 # Actual altitude: 51.548171 # Commanded vehicle depth: 136.28814 # Seafloor depth: -187.836311 # 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 16 # Segment length 111.279173 meters # Minimum depth: 186.972461 meters looking forward 100.000000 meters along route # Maximum depth: 196.290459 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 136.972461 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.581806; longitude = -136.085099; duration = 445; initialDepth = 146.849570; finalDepth = 136.972461; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.548171 # Actual altitude: 51.548171 # Commanded vehicle depth: 136.972461 # Seafloor depth: -187.162000 # 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 16 # Segment length 100.545195 meters # Minimum depth: 196.849570 meters looking forward 100.000000 meters along route # Maximum depth: 198.861732 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 146.849570 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.582625; longitude = -136.086815; duration = 402; initialDepth = 147.708363; finalDepth = 146.849570; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.189539 # Actual altitude: 50.189539 # Commanded vehicle depth: 146.84957 # Seafloor depth: -196.849570 # 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 16 # Segment length 106.135091 meters # Minimum depth: 197.708363 meters looking forward 100.000000 meters along route # Maximum depth: 204.437930 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 147.708363 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.583364; longitude = -136.088365; duration = 424; initialDepth = 151.284482; finalDepth = 147.708363; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 147.708363 # Seafloor depth: -197.708363 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 106.133762 meters # Minimum depth: 201.284482 meters looking forward 100.000000 meters along route # Maximum depth: 205.636946 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 151.284482 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.584144; longitude = -136.090002; duration = 424; initialDepth = 156.083123; finalDepth = 151.284482; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 151.284482 # Seafloor depth: -201.284482 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 106.132432 meters # Minimum depth: 206.083123 meters looking forward 100.000000 meters along route # Maximum depth: 216.706230 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 156.083123 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.584925; longitude = -136.091639; duration = 424; initialDepth = 167.099661; finalDepth = 156.083123; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.842838 # Actual altitude: 50.842838 # Commanded vehicle depth: 156.083123 # Seafloor depth: -206.925961 # 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 16 # Segment length 106.131104 meters # Minimum depth: 217.099661 meters looking forward 100.000000 meters along route # Maximum depth: 218.099435 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 167.099661 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.585705; longitude = -136.093275; duration = 424; initialDepth = 166.362093; finalDepth = 167.099661; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.842838 # Actual altitude: 50.842838 # Commanded vehicle depth: 167.099661 # Seafloor depth: -217.099661 # 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 16 # Segment length 106.129774 meters # Minimum depth: 216.362093 meters looking forward 100.000000 meters along route # Maximum depth: 222.348964 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 166.362093 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.586486; longitude = -136.094912; duration = 424; initialDepth = 171.627238; finalDepth = 166.362093; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.48448 # Actual altitude: 51.48448 # Commanded vehicle depth: 166.362093 # Seafloor depth: -217.846573 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 110.616456 meters # Minimum depth: 221.627238 meters looking forward 100.000000 meters along route # Maximum depth: 224.823351 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 171.627238 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.587267; longitude = -136.096549; duration = 442; initialDepth = 175.176454; finalDepth = 171.627238; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.48448 # Actual altitude: 51.48448 # Commanded vehicle depth: 171.627238 # Seafloor depth: -222.340961 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 101.639104 meters # Minimum depth: 225.176454 meters looking forward 100.000000 meters along route # Maximum depth: 229.565553 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 175.176454 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.588080; longitude = -136.098254; duration = 406; initialDepth = 179.399666; finalDepth = 175.176454; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.713723 # Actual altitude: 50.713723 # Commanded vehicle depth: 175.176454 # Seafloor depth: -225.196891 # 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 16 # Segment length 106.125787 meters # Minimum depth: 229.399666 meters looking forward 100.000000 meters along route # Maximum depth: 233.910969 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 179.399666 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.588828; longitude = -136.099822; duration = 424; initialDepth = 181.487891; finalDepth = 179.399666; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.247692 # Actual altitude: 51.247692 # Commanded vehicle depth: 179.399666 # Seafloor depth: -230.647358 # 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 16 # Segment length 106.124458 meters # Minimum depth: 231.487891 meters looking forward 100.000000 meters along route # Maximum depth: 237.891842 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 181.487891 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.589608; longitude = -136.101458; duration = 424; initialDepth = 185.339325; finalDepth = 181.487891; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.466419 # Actual altitude: 51.466419 # Commanded vehicle depth: 181.487891 # Seafloor depth: -232.954310 # 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 16 # Segment length 106.123128 meters # Minimum depth: 235.339325 meters looking forward 100.000000 meters along route # Maximum depth: 237.709098 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 185.339325 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.590389; longitude = -136.103095; duration = 424; initialDepth = 187.277258; finalDepth = 185.339325; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.369773 # Actual altitude: 52.369773 # Commanded vehicle depth: 185.339325 # Seafloor depth: -237.709098 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 106.121800 meters # Minimum depth: 237.277258 meters looking forward 100.000000 meters along route # Maximum depth: 239.378397 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 187.277258 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.591169; longitude = -136.104732; duration = 424; initialDepth = 188.918027; finalDepth = 187.277258; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.369773 # Actual altitude: 52.369773 # Commanded vehicle depth: 187.277258 # Seafloor depth: -237.277258 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 106.120470 meters # Minimum depth: 238.918027 meters looking forward 100.000000 meters along route # Maximum depth: 242.790551 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 188.918027 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.591950; longitude = -136.106368; duration = 424; initialDepth = 192.909701; finalDepth = 188.918027; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.287081 # Actual altitude: 50.287081 # Commanded vehicle depth: 188.918027 # Seafloor depth: -239.205108 # 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 16 # Segment length 109.504132 meters # Minimum depth: 242.909701 meters looking forward 100.000000 meters along route # Maximum depth: 250.739493 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 192.909701 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.592730; longitude = -136.108005; duration = 438; initialDepth = 200.277877; finalDepth = 192.909701; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.287081 # Actual altitude: 50.287081 # Commanded vehicle depth: 192.909701 # Seafloor depth: -242.909701 # 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 16 # Segment length 102.732823 meters # Minimum depth: 250.277877 meters looking forward 100.000000 meters along route # Maximum depth: 251.138950 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 200.277877 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.593535; longitude = -136.109694; duration = 410; initialDepth = 199.832271; finalDepth = 200.277877; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.861073 # Actual altitude: 50.861073 # Commanded vehicle depth: 200.277877 # Seafloor depth: -251.138950 # 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 16 # Segment length 106.116484 meters # Minimum depth: 249.832271 meters looking forward 100.000000 meters along route # Maximum depth: 254.398513 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 199.832271 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.594291; longitude = -136.111278; duration = 424; initialDepth = 204.911194; finalDepth = 199.832271; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.692517 # Actual altitude: 51.692517 # Commanded vehicle depth: 199.832271 # Seafloor depth: -251.524788 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 106.115155 meters # Minimum depth: 254.911194 meters looking forward 100.000000 meters along route # Maximum depth: 259.014659 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 204.911194 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.595072; longitude = -136.112915; duration = 424; initialDepth = 209.594067; finalDepth = 204.911194; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.692517 # Actual altitude: 51.692517 # Commanded vehicle depth: 204.911194 # Seafloor depth: -254.911194 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 106.113827 meters # Minimum depth: 259.594067 meters looking forward 100.000000 meters along route # Maximum depth: 262.758098 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 209.594067 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.595852; longitude = -136.114552; duration = 424; initialDepth = 213.378936; finalDepth = 209.594067; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 209.594067 # Seafloor depth: -259.594067 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 106.112498 meters # Minimum depth: 263.378936 meters looking forward 100.000000 meters along route # Maximum depth: 267.060799 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 213.378936 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.596633; longitude = -136.116188; duration = 424; initialDepth = 216.367608; finalDepth = 213.378936; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 213.378936 # Seafloor depth: -263.378936 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 106.111169 meters # Minimum depth: 266.367608 meters looking forward 100.000000 meters along route # Maximum depth: 271.104619 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 216.367608 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.597413; longitude = -136.117825; duration = 424; initialDepth = 220.586717; finalDepth = 216.367608; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1315 # Actual altitude: 50.1315 # Commanded vehicle depth: 216.367608 # Seafloor depth: -266.499108 # 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 16 # Segment length 108.392002 meters # Minimum depth: 270.586717 meters looking forward 100.000000 meters along route # Maximum depth: 273.322292 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 220.586717 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.598194; longitude = -136.119462; duration = 433; initialDepth = 223.193068; finalDepth = 220.586717; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.415394 # Actual altitude: 50.415394 # Commanded vehicle depth: 220.586717 # Seafloor depth: -271.002111 # 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 16 # Segment length 103.826350 meters # Minimum depth: 273.193068 meters looking forward 100.000000 meters along route # Maximum depth: 274.429011 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 223.193068 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.598991; longitude = -136.121133; duration = 415; initialDepth = 223.044367; finalDepth = 223.193068; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.415394 # Actual altitude: 50.415394 # Commanded vehicle depth: 223.193068 # Seafloor depth: -273.464284 # 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 16 # Segment length 106.107183 meters # Minimum depth: 273.044367 meters looking forward 100.000000 meters along route # Maximum depth: 277.661838 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 223.044367 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.599755; longitude = -136.122735; duration = 424; initialDepth = 227.393674; finalDepth = 223.044367; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.271216 # Actual altitude: 50.271216 # Commanded vehicle depth: 223.044367 # Seafloor depth: -273.044367 # 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 16 # Segment length 106.105855 meters # Minimum depth: 277.393674 meters looking forward 100.000000 meters along route # Maximum depth: 282.077707 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 227.393674 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.600535; longitude = -136.124371; duration = 424; initialDepth = 232.670829; finalDepth = 227.393674; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 227.393674 # Seafloor depth: -277.393674 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 106.104526 meters # Minimum depth: 282.670829 meters looking forward 100.000000 meters along route # Maximum depth: 283.908080 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 232.670829 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.601316; longitude = -136.126008; duration = 424; initialDepth = 234.208615; finalDepth = 232.670829; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.237251 # Actual altitude: 51.237251 # Commanded vehicle depth: 232.670829 # Seafloor depth: -283.908080 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 106.103198 meters # Minimum depth: 284.208615 meters looking forward 100.000000 meters along route # Maximum depth: 287.507436 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 234.208615 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.602096; longitude = -136.127645; duration = 424; initialDepth = 235.526715; finalDepth = 234.208615; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.237251 # Actual altitude: 51.237251 # Commanded vehicle depth: 234.208615 # Seafloor depth: -284.208615 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 106.101869 meters # Minimum depth: 285.526715 meters looking forward 100.000000 meters along route # Maximum depth: 289.740479 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 235.526715 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.602877; longitude = -136.129281; duration = 424; initialDepth = 239.809524; finalDepth = 235.526715; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.114169 # Actual altitude: 50.114169 # Commanded vehicle depth: 235.526715 # Seafloor depth: -285.640884 # 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 16 # Segment length 107.280067 meters # Minimum depth: 289.809524 meters looking forward 100.000000 meters along route # Maximum depth: 295.293500 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 239.809524 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.603657; longitude = -136.130918; duration = 429; initialDepth = 245.390891; finalDepth = 239.809524; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.114169 # Actual altitude: 50.114169 # Commanded vehicle depth: 239.809524 # Seafloor depth: -289.809524 # 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 16 # Segment length 105.291233 meters # Minimum depth: 295.390891 meters looking forward 100.000000 meters along route # Maximum depth: 300.125158 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 245.390891 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.604446; longitude = -136.132573; duration = 421; initialDepth = 250.401688; finalDepth = 245.390891; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 245.390891 # Seafloor depth: -295.390891 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; 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 15 # Segment length 149.963388 meters # Minimum depth: 300.401688 meters looking forward 100.000000 meters along route # Maximum depth: 305.052137 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 250.401688 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.605221; longitude = -136.134197; duration = 599; # abortOnTimeout = True; initialDepth = 243.057203; finalDepth = 250.401688; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 250.401688 # Seafloor depth: -300.401688 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; 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 14 # Segment length 186.025599 meters # Minimum depth: 293.057203 meters looking forward 100.000000 meters along route # Maximum depth: 305.670639 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 243.057203 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.604451; longitude = -136.137514; duration = 744; # abortOnTimeout = True; initialDepth = 238.033334; finalDepth = 243.057203; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.613436 # Actual altitude: 62.613436 # Commanded vehicle depth: 243.057203 # Seafloor depth: -305.670639 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.106851 meters # Minimum depth: 288.033334 meters looking forward 100.000000 meters along route # Maximum depth: 292.778406 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 238.033334 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.603083; longitude = -136.134644; duration = 400; initialDepth = 231.654310; finalDepth = 238.033334; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.613436 # Actual altitude: 62.613436 # Commanded vehicle depth: 238.033334 # Seafloor depth: -292.778406 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 106.099975 meters # Minimum depth: 281.654310 meters looking forward 100.000000 meters along route # Maximum depth: 287.872153 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 231.654310 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.602346; longitude = -136.133100; duration = 424; initialDepth = 230.154613; finalDepth = 231.654310; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.722463 # Actual altitude: 55.722463 # Commanded vehicle depth: 231.65431 # Seafloor depth: -287.376773 # 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 14 # Segment length 106.101303 meters # Minimum depth: 280.154613 meters looking forward 100.000000 meters along route # Maximum depth: 284.009282 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 230.154613 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.601566; longitude = -136.131464; duration = 424; initialDepth = 230.175814; finalDepth = 230.154613; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.722463 # Actual altitude: 55.722463 # Commanded vehicle depth: 230.154613 # Seafloor depth: -284.009282 # 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 14 # Segment length 106.102631 meters # Minimum depth: 280.175814 meters looking forward 100.000000 meters along route # Maximum depth: 281.542077 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 230.175814 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.600785; longitude = -136.129827; duration = 424; initialDepth = 227.436455; finalDepth = 230.175814; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.854669 # Actual altitude: 53.854669 # Commanded vehicle depth: 230.175814 # Seafloor depth: -280.502210 # 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 14 # Segment length 106.103960 meters # Minimum depth: 277.436455 meters looking forward 100.000000 meters along route # Maximum depth: 279.853789 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 227.436455 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.600005; longitude = -136.128190; duration = 424; initialDepth = 222.472284; finalDepth = 227.436455; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.417334 # Actual altitude: 52.417334 # Commanded vehicle depth: 227.436455 # Seafloor depth: -279.853789 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 106.105288 meters # Minimum depth: 272.472284 meters looking forward 100.000000 meters along route # Maximum depth: 278.424605 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 222.472284 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.599224; longitude = -136.126554; duration = 424; initialDepth = 222.414127; finalDepth = 222.472284; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.807142 # Actual altitude: 54.807142 # Commanded vehicle depth: 222.472284 # Seafloor depth: -277.279426 # 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 14 # Segment length 111.039485 meters # Minimum depth: 272.414127 meters looking forward 100.000000 meters along route # Maximum depth: 273.539603 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 222.414127 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.598444; longitude = -136.124917; duration = 444; initialDepth = 220.612582; finalDepth = 222.414127; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.807142 # Actual altitude: 54.807142 # Commanded vehicle depth: 222.414127 # Seafloor depth: -272.475249 # 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 14 # Segment length 101.175078 meters # Minimum depth: 270.612582 meters looking forward 100.000000 meters along route # Maximum depth: 272.606511 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 220.612582 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.597627; longitude = -136.123204; duration = 404; initialDepth = 215.430481; finalDepth = 220.612582; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.993929 # Actual altitude: 51.993929 # Commanded vehicle depth: 220.612582 # Seafloor depth: -272.606511 # 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 14 # Segment length 106.109274 meters # Minimum depth: 265.430481 meters looking forward 100.000000 meters along route # Maximum depth: 270.316350 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 215.430481 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.596883; longitude = -136.121644; duration = 424; initialDepth = 211.731869; finalDepth = 215.430481; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.865147 # Actual altitude: 54.865147 # Commanded vehicle depth: 215.430481 # Seafloor depth: -270.295628 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 106.110603 meters # Minimum depth: 261.731869 meters looking forward 100.000000 meters along route # Maximum depth: 266.503328 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 211.731869 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.596102; longitude = -136.120007; duration = 424; initialDepth = 210.369260; finalDepth = 211.731869; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.865147 # Actual altitude: 54.865147 # Commanded vehicle depth: 211.731869 # Seafloor depth: -265.947881 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 106.111931 meters # Minimum depth: 260.369260 meters looking forward 100.000000 meters along route # Maximum depth: 263.544794 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 210.369260 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.595322; longitude = -136.118370; duration = 424; initialDepth = 203.549323; finalDepth = 210.369260; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.216012 # Actual altitude: 54.216012 # Commanded vehicle depth: 210.36926 # Seafloor depth: -263.544794 # 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 14 # Segment length 106.113261 meters # Minimum depth: 253.549323 meters looking forward 100.000000 meters along route # Maximum depth: 258.992706 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 203.549323 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.594542; longitude = -136.116734; duration = 424; initialDepth = 199.968125; finalDepth = 203.549323; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.443383 # Actual altitude: 55.443383 # Commanded vehicle depth: 203.549323 # Seafloor depth: -258.992706 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 106.114589 meters # Minimum depth: 249.968125 meters looking forward 100.000000 meters along route # Maximum depth: 253.545405 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 199.968125 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.593761; longitude = -136.115097; duration = 424; initialDepth = 195.465441; finalDepth = 199.968125; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.443383 # Actual altitude: 55.443383 # Commanded vehicle depth: 199.968125 # Seafloor depth: -253.545405 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 109.989675 meters # Minimum depth: 245.465441 meters looking forward 100.000000 meters along route # Maximum depth: 250.106188 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 195.465441 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.592981; longitude = -136.113460; duration = 439; initialDepth = 189.799127; finalDepth = 195.465441; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.640747 # Actual altitude: 54.640747 # Commanded vehicle depth: 195.465441 # Seafloor depth: -250.106188 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 102.243490 meters # Minimum depth: 239.799127 meters looking forward 100.000000 meters along route # Maximum depth: 245.446096 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 189.799127 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.592172; longitude = -136.111764; duration = 408; initialDepth = 187.374993; finalDepth = 189.799127; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.646969 # Actual altitude: 55.646969 # Commanded vehicle depth: 189.799127 # Seafloor depth: -245.446096 # 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 14 # Segment length 106.118576 meters # Minimum depth: 237.374993 meters looking forward 100.000000 meters along route # Maximum depth: 239.450010 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 187.374993 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.591420; longitude = -136.110187; duration = 424; initialDepth = 187.454350; finalDepth = 187.374993; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.646969 # Actual altitude: 55.646969 # Commanded vehicle depth: 187.374993 # Seafloor depth: -239.450010 # 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 14 # Segment length 106.119905 meters # Minimum depth: 237.454350 meters looking forward 100.000000 meters along route # Maximum depth: 239.790221 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 187.454350 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.590639; longitude = -136.108551; duration = 424; initialDepth = 183.313062; finalDepth = 187.454350; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.075017 # Actual altitude: 52.075017 # Commanded vehicle depth: 187.45435 # Seafloor depth: -238.977087 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 106.121234 meters # Minimum depth: 233.313062 meters looking forward 100.000000 meters along route # Maximum depth: 237.452353 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 183.313062 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.589859; longitude = -136.106914; duration = 424; initialDepth = 181.625050; finalDepth = 183.313062; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.103618 # Actual altitude: 54.103618 # Commanded vehicle depth: 183.313062 # Seafloor depth: -237.416680 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 106.122563 meters # Minimum depth: 231.625050 meters looking forward 100.000000 meters along route # Maximum depth: 233.614320 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 181.625050 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.589078; longitude = -136.105277; duration = 424; initialDepth = 178.357024; finalDepth = 181.625050; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.103618 # Actual altitude: 54.103618 # Commanded vehicle depth: 181.62505 # Seafloor depth: -233.289089 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 106.123892 meters # Minimum depth: 228.357024 meters looking forward 100.000000 meters along route # Maximum depth: 232.726424 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 178.357024 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.588298; longitude = -136.103641; duration = 424; initialDepth = 170.434696; finalDepth = 178.357024; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.3694 # Actual altitude: 54.3694 # Commanded vehicle depth: 178.357024 # Seafloor depth: -232.726424 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 108.939680 meters # Minimum depth: 220.434696 meters looking forward 100.000000 meters along route # Maximum depth: 228.205106 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 170.434696 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.587517; longitude = -136.102004; duration = 435; initialDepth = 166.941442; finalDepth = 170.434696; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.77041 # Actual altitude: 57.77041 # Commanded vehicle depth: 170.434696 # Seafloor depth: -228.205106 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 103.312091 meters # Minimum depth: 216.941442 meters looking forward 100.000000 meters along route # Maximum depth: 222.049406 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 166.941442 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.586716; longitude = -136.100324; duration = 413; initialDepth = 160.694710; finalDepth = 166.941442; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.77041 # Actual altitude: 57.77041 # Commanded vehicle depth: 166.941442 # Seafloor depth: -220.215133 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 106.127879 meters # Minimum depth: 210.694710 meters looking forward 100.000000 meters along route # Maximum depth: 216.853845 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 160.694710 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.585956; longitude = -136.098731; duration = 424; initialDepth = 158.226477; finalDepth = 160.694710; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.159135 # Actual altitude: 56.159135 # Commanded vehicle depth: 160.69471 # Seafloor depth: -216.853845 # 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 14 # Segment length 106.129209 meters # Minimum depth: 208.226477 meters looking forward 100.000000 meters along route # Maximum depth: 209.794978 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 158.226477 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.585176; longitude = -136.097094; duration = 424; initialDepth = 154.583226; finalDepth = 158.226477; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.159135 # Actual altitude: 56.159135 # Commanded vehicle depth: 158.226477 # Seafloor depth: -209.783237 # 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 14 # Segment length 106.130538 meters # Minimum depth: 204.583226 meters looking forward 100.000000 meters along route # Maximum depth: 207.687275 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 154.583226 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.584395; longitude = -136.095457; duration = 424; initialDepth = 150.005594; finalDepth = 154.583226; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.104049 # Actual altitude: 53.104049 # Commanded vehicle depth: 154.583226 # Seafloor depth: -207.687275 # 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 14 # Segment length 106.131867 meters # Minimum depth: 200.005594 meters looking forward 100.000000 meters along route # Maximum depth: 204.857392 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 150.005594 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.583615; longitude = -136.093821; duration = 424; initialDepth = 144.957568; finalDepth = 150.005594; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.851798 # Actual altitude: 54.851798 # Commanded vehicle depth: 150.005594 # Seafloor depth: -204.857392 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 106.133197 meters # Minimum depth: 194.957568 meters looking forward 100.000000 meters along route # Maximum depth: 199.050243 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 144.957568 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.582835; longitude = -136.092184; duration = 424; initialDepth = 143.107065; finalDepth = 144.957568; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.851798 # Actual altitude: 54.851798 # Commanded vehicle depth: 144.957568 # Seafloor depth: -199.050243 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 107.889502 meters # Minimum depth: 193.107065 meters looking forward 100.000000 meters along route # Maximum depth: 194.780826 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 143.107065 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.582054; longitude = -136.090548; duration = 431; initialDepth = 137.528625; finalDepth = 143.107065; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.092675 # Actual altitude: 54.092675 # Commanded vehicle depth: 143.107065 # Seafloor depth: -194.669303 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 104.380879 meters # Minimum depth: 187.528625 meters looking forward 100.000000 meters along route # Maximum depth: 193.444953 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 137.528625 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.581261; longitude = -136.088884; duration = 417; initialDepth = 133.747401; finalDepth = 137.528625; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.53065 # Actual altitude: 55.53065 # Commanded vehicle depth: 137.528625 # Seafloor depth: -193.059275 # 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 14 # Segment length 106.137184 meters # Minimum depth: 183.747401 meters looking forward 100.000000 meters along route # Maximum depth: 188.879112 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 133.747401 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.580493; longitude = -136.087274; duration = 424; initialDepth = 129.204133; finalDepth = 133.747401; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.53065 # Actual altitude: 55.53065 # Commanded vehicle depth: 133.747401 # Seafloor depth: -187.890126 # 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 14 # Segment length 106.138514 meters # Minimum depth: 179.204133 meters looking forward 100.000000 meters along route # Maximum depth: 182.362596 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 129.204133 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.579713; longitude = -136.085638; duration = 424; initialDepth = 124.487578; finalDepth = 129.204133; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.142725 # Actual altitude: 54.142725 # Commanded vehicle depth: 129.204133 # Seafloor depth: -181.736137 # 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 14 # Segment length 106.139844 meters # Minimum depth: 174.487578 meters looking forward 100.000000 meters along route # Maximum depth: 180.134552 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 124.487578 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.578932; longitude = -136.084001; duration = 424; initialDepth = 117.556833; finalDepth = 124.487578; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.646974 # Actual altitude: 55.646974 # Commanded vehicle depth: 124.487578 # Seafloor depth: -180.134552 # 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 14 # Segment length 106.141173 meters # Minimum depth: 167.556833 meters looking forward 100.000000 meters along route # Maximum depth: 173.762821 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 117.556833 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.578152; longitude = -136.082364; duration = 424; initialDepth = 113.894824; finalDepth = 117.556833; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.205988 # Actual altitude: 56.205988 # Commanded vehicle depth: 117.556833 # Seafloor depth: -173.762821 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 106.142503 meters # Minimum depth: 163.894824 meters looking forward 100.000000 meters along route # Maximum depth: 167.779177 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 113.894824 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.577371; longitude = -136.080728; duration = 424; initialDepth = 84.313577; finalDepth = 113.894824; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.205988 # Actual altitude: 56.205988 # Commanded vehicle depth: 113.894824 # Seafloor depth: -167.062931 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 106.839140 meters # Minimum depth: 134.313577 meters looking forward 100.000000 meters along route # Maximum depth: 163.003920 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 84.313577 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.576591; longitude = -136.079091; duration = 427; initialDepth = 81.165750; finalDepth = 84.313577; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.690343 # Actual altitude: 78.690343 # Commanded vehicle depth: 84.313577 # Seafloor depth: -163.003920 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 47.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 111.293489 meters # Minimum depth: 131.165750 meters looking forward 100.000000 meters along route # Maximum depth: 134.287684 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 81.165750 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.575805; longitude = -136.077444; duration = 445; initialDepth = 78.785554; finalDepth = 81.165750; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.690343 # Actual altitude: 78.690343 # Commanded vehicle depth: 81.16575 # Seafloor depth: -134.287684 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 47.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 100.302857 meters # Minimum depth: 128.785554 meters looking forward 100.000000 meters along route # Maximum depth: 130.998052 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 78.785554 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.574987; longitude = -136.075728; duration = 401; initialDepth = 77.590840; finalDepth = 78.785554; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.121934 # Actual altitude: 53.121934 # Commanded vehicle depth: 78.785554 # Seafloor depth: -130.998052 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 106.147822 meters # Minimum depth: 127.590840 meters looking forward 100.000000 meters along route # Maximum depth: 128.429166 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 77.590840 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.574249; longitude = -136.074181; duration = 424; initialDepth = 75.913286; finalDepth = 77.590840; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.212498 # Actual altitude: 52.212498 # Commanded vehicle depth: 77.59084 # Seafloor depth: -128.429166 # 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 14 # Segment length 106.149151 meters # Minimum depth: 125.913286 meters looking forward 100.000000 meters along route # Maximum depth: 128.494706 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 75.913286 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.573469; longitude = -136.072544; duration = 424; initialDepth = 73.109956; finalDepth = 75.913286; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.58142 # Actual altitude: 52.58142 # Commanded vehicle depth: 75.913286 # Seafloor depth: -128.494706 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 106.150481 meters # Minimum depth: 123.109956 meters looking forward 100.000000 meters along route # Maximum depth: 127.884609 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 73.109956 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.572688; longitude = -136.070908; duration = 424; initialDepth = 71.181847; finalDepth = 73.109956; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.635633 # Actual altitude: 52.635633 # Commanded vehicle depth: 73.109956 # Seafloor depth: -125.745589 # 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 14 # Segment length 106.151811 meters # Minimum depth: 121.181847 meters looking forward 100.000000 meters along route # Maximum depth: 127.528753 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 71.181847 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.571908; longitude = -136.069271; duration = 424; initialDepth = 69.602913; finalDepth = 71.181847; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.346906 # Actual altitude: 56.346906 # Commanded vehicle depth: 71.181847 # Seafloor depth: -127.528753 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 106.153140 meters # Minimum depth: 119.602913 meters looking forward 100.000000 meters along route # Maximum depth: 120.949082 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 69.602913 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.571128; longitude = -136.067635; duration = 424; initialDepth = 66.876966; finalDepth = 69.602913; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.346906 # Actual altitude: 56.346906 # Commanded vehicle depth: 69.602913 # Seafloor depth: -120.949082 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 110.938689 meters # Minimum depth: 116.876966 meters looking forward 100.000000 meters along route # Maximum depth: 120.628102 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.876966 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.570347; longitude = -136.065998; duration = 443; initialDepth = 64.884084; finalDepth = 66.876966; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.726359 # Actual altitude: 53.726359 # Commanded vehicle depth: 66.876966 # Seafloor depth: -120.603325 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.371583 meters # Minimum depth: 114.884084 meters looking forward 100.000000 meters along route # Maximum depth: 116.496439 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.884084 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.569531; longitude = -136.064288; duration = 405; initialDepth = 60.489274; finalDepth = 64.884084; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.726359 # Actual altitude: 53.726359 # Commanded vehicle depth: 64.884084 # Seafloor depth: -116.496439 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 106.157130 meters # Minimum depth: 110.489274 meters looking forward 100.000000 meters along route # Maximum depth: 113.359586 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.489274 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.568786; longitude = -136.062725; duration = 424; initialDepth = 61.328141; finalDepth = 60.489274; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.870312 # Actual altitude: 52.870312 # Commanded vehicle depth: 60.489274 # Seafloor depth: -113.359586 # 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 14 # Segment length 106.158461 meters # Minimum depth: 111.328141 meters looking forward 100.000000 meters along route # Maximum depth: 116.215132 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.328141 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.568006; longitude = -136.061088; duration = 424; initialDepth = 62.652457; finalDepth = 61.328141; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.870312 # Actual altitude: 52.870312 # Commanded vehicle depth: 61.328141 # Seafloor depth: -113.954721 # 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 14 # Segment length 106.159790 meters # Minimum depth: 112.652457 meters looking forward 100.000000 meters along route # Maximum depth: 118.851155 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.652457 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.567225; longitude = -136.059451; duration = 424; initialDepth = 56.137232; finalDepth = 62.652457; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.198698 # Actual altitude: 56.198698 # Commanded vehicle depth: 62.652457 # Seafloor depth: -118.851155 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 106.161121 meters # Minimum depth: 106.137232 meters looking forward 100.000000 meters along route # Maximum depth: 111.553622 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.137232 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.566445; longitude = -136.057815; duration = 424; initialDepth = 52.436845; finalDepth = 56.137232; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.198698 # Actual altitude: 56.198698 # Commanded vehicle depth: 56.137232 # Seafloor depth: -111.553622 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 106.162451 meters # Minimum depth: 102.436845 meters looking forward 100.000000 meters along route # Maximum depth: 105.876751 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.436845 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.565664; longitude = -136.056178; duration = 424; initialDepth = 51.145966; finalDepth = 52.436845; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.41639 # Actual altitude: 55.41639 # Commanded vehicle depth: 52.436845 # Seafloor depth: -105.876751 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 109.888396 meters # Minimum depth: 101.145966 meters looking forward 100.000000 meters along route # Maximum depth: 102.409403 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 51.145966 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.564884; longitude = -136.054541; duration = 439; initialDepth = 50.801694; finalDepth = 51.145966; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.439906 # Actual altitude: 53.439906 # Commanded vehicle depth: 51.145966 # Seafloor depth: -102.409403 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 102.440496 meters # Minimum depth: 100.801694 meters looking forward 100.000000 meters along route # Maximum depth: 101.465094 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 50.801694 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.564076; longitude = -136.052847; duration = 409; initialDepth = 49.622448; finalDepth = 50.801694; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.263437 # Actual altitude: 51.263437 # Commanded vehicle depth: 50.801694 # Seafloor depth: -101.103417 # 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 14 # Segment length 100.102941 meters # Minimum depth: 99.622448 meters looking forward 100.000000 meters along route # Maximum depth: 100.474084 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 49.622448 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.563323; longitude = -136.051268; duration = 400; initialDepth = 41.409598; finalDepth = 49.622448; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.851636 # Actual altitude: 50.851636 # Commanded vehicle depth: 49.622448 # Seafloor depth: -100.474084 # 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; } # ####################################################### # # 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 150.020424 meters # Minimum depth: 91.409598 meters looking forward 100.000000 meters along route # Maximum depth: 99.334106 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 41.409598 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.562587; longitude = -136.049725; duration = 600; # abortOnTimeout = True; initialDepth = 47.748438; finalDepth = 41.409598; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 57.924508 # Actual altitude: 57.924508 # Commanded vehicle depth: 41.409598 # Seafloor depth: -99.334106 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 131.639291 meters # Minimum depth: 97.748438 meters looking forward 100.000000 meters along route # Maximum depth: 101.648015 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 47.748438 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.561818; longitude = -136.053039; duration = 526; # abortOnTimeout = True; initialDepth = 50.788778; finalDepth = 47.748438; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.924508 # Actual altitude: 57.924508 # Commanded vehicle depth: 47.748438 # Seafloor depth: -97.748438 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 105.197130 meters # Minimum depth: 100.788778 meters looking forward 100.000000 meters along route # Maximum depth: 101.685469 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 50.788778 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.562781; longitude = -136.055087; duration = 420; initialDepth = 51.448423; finalDepth = 50.788778; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.896691 # Actual altitude: 50.896691 # Commanded vehicle depth: 50.788778 # Seafloor depth: -101.685469 # 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 108.983603 meters # Minimum depth: 101.448423 meters looking forward 100.000000 meters along route # Maximum depth: 105.114881 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 51.448423 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.563551; longitude = -136.056724; duration = 435; initialDepth = 55.233516; finalDepth = 51.448423; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.896691 # Actual altitude: 50.896691 # Commanded vehicle depth: 51.448423 # Seafloor depth: -101.448423 # 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 101.406683 meters # Minimum depth: 105.233516 meters looking forward 100.000000 meters along route # Maximum depth: 109.175105 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.233516 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.564349; longitude = -136.058419; duration = 405; initialDepth = 60.634946; finalDepth = 55.233516; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 55.233516 # Seafloor depth: -105.233516 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 105.193157 meters # Minimum depth: 110.634946 meters looking forward 100.000000 meters along route # Maximum depth: 115.463178 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.634946 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.565091; longitude = -136.059997; duration = 420; initialDepth = 56.192324; finalDepth = 60.634946; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 60.634946 # Seafloor depth: -110.634946 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 105.191832 meters # Minimum depth: 106.192324 meters looking forward 100.000000 meters along route # Maximum depth: 113.216425 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.192324 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.565861; longitude = -136.061634; duration = 420; initialDepth = 62.931489; finalDepth = 56.192324; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.237634 # Actual altitude: 54.237634 # Commanded vehicle depth: 56.192324 # Seafloor depth: -110.429958 # 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 12 # Segment length 105.190508 meters # Minimum depth: 112.931489 meters looking forward 100.000000 meters along route # Maximum depth: 114.143421 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.931489 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.566631; longitude = -136.063270; duration = 420; initialDepth = 64.136307; finalDepth = 62.931489; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.237634 # Actual altitude: 54.237634 # Commanded vehicle depth: 62.931489 # Seafloor depth: -113.145453 # 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 12 # Segment length 105.189184 meters # Minimum depth: 114.136307 meters looking forward 100.000000 meters along route # Maximum depth: 116.644717 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.136307 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.567400; longitude = -136.064907; duration = 420; initialDepth = 64.187180; finalDepth = 64.136307; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.213964 # Actual altitude: 50.213964 # Commanded vehicle depth: 64.136307 # Seafloor depth: -114.232773 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 105.187860 meters # Minimum depth: 114.187180 meters looking forward 100.000000 meters along route # Maximum depth: 120.156494 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.187180 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.568170; longitude = -136.066543; duration = 420; initialDepth = 67.563388; finalDepth = 64.187180; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.096466 # Actual altitude: 50.096466 # Commanded vehicle depth: 64.18718 # Seafloor depth: -114.187180 # 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 12 # Segment length 105.186536 meters # Minimum depth: 117.563388 meters looking forward 100.000000 meters along route # Maximum depth: 118.773674 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 67.563388 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.568940; longitude = -136.068180; duration = 420; initialDepth = 67.904395; finalDepth = 67.563388; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.065368 # Actual altitude: 51.065368 # Commanded vehicle depth: 67.563388 # Seafloor depth: -118.628756 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 105.185212 meters # Minimum depth: 117.904395 meters looking forward 100.000000 meters along route # Maximum depth: 119.685357 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 67.904395 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.569710; longitude = -136.069817; duration = 420; initialDepth = 70.279581; finalDepth = 67.904395; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.065368 # Actual altitude: 51.065368 # Commanded vehicle depth: 67.904395 # Seafloor depth: -117.915027 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 105.183887 meters # Minimum depth: 120.279581 meters looking forward 100.000000 meters along route # Maximum depth: 126.054777 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 70.279581 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.570480; longitude = -136.071453; duration = 420; initialDepth = 74.386223; finalDepth = 70.279581; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.010632 # Actual altitude: 50.010632 # Commanded vehicle depth: 70.279581 # Seafloor depth: -120.279581 # 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 105.182564 meters # Minimum depth: 124.386223 meters looking forward 100.000000 meters along route # Maximum depth: 125.503681 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 74.386223 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.571250; longitude = -136.073090; duration = 420; initialDepth = 74.636607; finalDepth = 74.386223; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.117458 # Actual altitude: 51.117458 # Commanded vehicle depth: 74.386223 # Seafloor depth: -125.503681 # 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 12 # Segment length 107.284962 meters # Minimum depth: 124.636607 meters looking forward 100.000000 meters along route # Maximum depth: 126.488597 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 74.636607 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.572019; longitude = -136.074727; duration = 429; initialDepth = 76.513397; finalDepth = 74.636607; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.117458 # Actual altitude: 51.117458 # Commanded vehicle depth: 74.636607 # Seafloor depth: -124.636607 # 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 12 # Segment length 103.076193 meters # Minimum depth: 126.513397 meters looking forward 100.000000 meters along route # Maximum depth: 127.711445 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 76.513397 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.572805; longitude = -136.076396; duration = 412; initialDepth = 78.070909; finalDepth = 76.513397; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 76.513397 # Seafloor depth: -126.513397 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 105.178592 meters # Minimum depth: 128.070909 meters looking forward 100.000000 meters along route # Maximum depth: 130.387898 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 78.070909 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.573559; longitude = -136.078000; duration = 420; initialDepth = 80.870419; finalDepth = 78.070909; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 78.070909 # Seafloor depth: -128.070909 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 105.177267 meters # Minimum depth: 130.870419 meters looking forward 100.000000 meters along route # Maximum depth: 134.929184 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 80.870419 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.574329; longitude = -136.079637; duration = 420; initialDepth = 92.351209; finalDepth = 80.870419; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 80.870419 # Seafloor depth: -130.870419 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 105.175944 meters # Minimum depth: 142.351209 meters looking forward 100.000000 meters along route # Maximum depth: 166.914723 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 92.351209 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.575099; longitude = -136.081273; duration = 420; initialDepth = 117.000412; finalDepth = 92.351209; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 92.351209 # Seafloor depth: -142.351209 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 105.174621 meters # Minimum depth: 167.000412 meters looking forward 100.000000 meters along route # Maximum depth: 170.533385 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 117.000412 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.575869; longitude = -136.082910; duration = 420; initialDepth = 119.201488; finalDepth = 117.000412; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 117.000412 # Seafloor depth: -167.000412 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 109.746356 meters # Minimum depth: 169.201488 meters looking forward 100.000000 meters along route # Maximum depth: 171.099600 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 119.201488 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.576639; longitude = -136.084547; duration = 438; initialDepth = 121.108717; finalDepth = 119.201488; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.080817 # Actual altitude: 50.080817 # Commanded vehicle depth: 119.201488 # Seafloor depth: -169.282305 # 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 12 # Segment length 100.598913 meters # Minimum depth: 171.108717 meters looking forward 100.000000 meters along route # Maximum depth: 181.295452 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 121.108717 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.577442; longitude = -136.086254; duration = 402; initialDepth = 132.248427; finalDepth = 121.108717; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.080817 # Actual altitude: 50.080817 # Commanded vehicle depth: 121.108717 # Seafloor depth: -171.108717 # 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 12 # Segment length 105.170649 meters # Minimum depth: 182.248427 meters looking forward 100.000000 meters along route # Maximum depth: 184.611998 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 132.248427 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.578178; longitude = -136.087820; duration = 420; initialDepth = 133.873909; finalDepth = 132.248427; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 132.248427 # Seafloor depth: -182.248427 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 105.169325 meters # Minimum depth: 183.873909 meters looking forward 100.000000 meters along route # Maximum depth: 190.230659 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 133.873909 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.578948; longitude = -136.089456; duration = 420; initialDepth = 140.897532; finalDepth = 133.873909; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 133.873909 # Seafloor depth: -183.873909 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 105.168002 meters # Minimum depth: 190.897532 meters looking forward 100.000000 meters along route # Maximum depth: 193.934188 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 140.897532 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.579718; longitude = -136.091093; duration = 420; initialDepth = 144.058899; finalDepth = 140.897532; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 140.897532 # Seafloor depth: -190.897532 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 105.586791 meters # Minimum depth: 194.058899 meters looking forward 100.000000 meters along route # Maximum depth: 197.186324 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 144.058899 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.580488; longitude = -136.092730; duration = 422; initialDepth = 146.827547; finalDepth = 144.058899; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 144.058899 # Seafloor depth: -194.058899 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 104.745241 meters # Minimum depth: 196.827547 meters looking forward 100.000000 meters along route # Maximum depth: 198.001355 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 146.827547 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.581261; longitude = -136.094373; duration = 418; initialDepth = 147.579959; finalDepth = 146.827547; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.062017 # Actual altitude: 50.062017 # Commanded vehicle depth: 146.827547 # Seafloor depth: -196.889564 # 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 12 # Segment length 105.164031 meters # Minimum depth: 197.579959 meters looking forward 100.000000 meters along route # Maximum depth: 200.170046 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 147.579959 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.582027; longitude = -136.096003; duration = 420; initialDepth = 147.842465; finalDepth = 147.579959; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.85817 # Actual altitude: 50.85817 # Commanded vehicle depth: 147.579959 # Seafloor depth: -198.438129 # 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 12 # Segment length 105.162708 meters # Minimum depth: 197.842465 meters looking forward 100.000000 meters along route # Maximum depth: 206.336979 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 147.842465 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.582797; longitude = -136.097640; duration = 420; initialDepth = 155.295161; finalDepth = 147.842465; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.85817 # Actual altitude: 50.85817 # Commanded vehicle depth: 147.842465 # Seafloor depth: -197.842465 # 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 12 # Segment length 105.161384 meters # Minimum depth: 205.295161 meters looking forward 100.000000 meters along route # Maximum depth: 211.926217 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 155.295161 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.583567; longitude = -136.099276; duration = 420; initialDepth = 161.422215; finalDepth = 155.295161; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.429984 # Actual altitude: 50.429984 # Commanded vehicle depth: 155.295161 # Seafloor depth: -205.725145 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 105.160061 meters # Minimum depth: 211.422215 meters looking forward 100.000000 meters along route # Maximum depth: 215.472996 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 161.422215 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.584337; longitude = -136.100913; duration = 420; initialDepth = 165.875622; finalDepth = 161.422215; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.429984 # Actual altitude: 50.429984 # Commanded vehicle depth: 161.422215 # Seafloor depth: -211.776288 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 108.047974 meters # Minimum depth: 215.875622 meters looking forward 100.000000 meters along route # Maximum depth: 219.794581 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 165.875622 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.585107; longitude = -136.102550; duration = 432; initialDepth = 170.075794; finalDepth = 165.875622; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.354073 # Actual altitude: 50.354073 # Commanded vehicle depth: 165.875622 # Seafloor depth: -215.875622 # 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 12 # Segment length 102.268177 meters # Minimum depth: 220.075794 meters looking forward 100.000000 meters along route # Maximum depth: 226.339678 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 170.075794 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.585898; longitude = -136.104231; duration = 409; initialDepth = 176.093053; finalDepth = 170.075794; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 170.075794 # Seafloor depth: -220.075794 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 105.156091 meters # Minimum depth: 226.093053 meters looking forward 100.000000 meters along route # Maximum depth: 232.268659 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 176.093053 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.586647; longitude = -136.105823; duration = 420; initialDepth = 181.666493; finalDepth = 176.093053; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.216001 # Actual altitude: 50.216001 # Commanded vehicle depth: 176.093053 # Seafloor depth: -226.309054 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 105.154767 meters # Minimum depth: 231.666493 meters looking forward 100.000000 meters along route # Maximum depth: 236.332226 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 181.666493 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.587416; longitude = -136.107459; duration = 420; initialDepth = 185.677451; finalDepth = 181.666493; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.216001 # Actual altitude: 50.216001 # Commanded vehicle depth: 181.666493 # Seafloor depth: -231.666493 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 105.153444 meters # Minimum depth: 235.677451 meters looking forward 100.000000 meters along route # Maximum depth: 238.966754 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 185.677451 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.588186; longitude = -136.109096; duration = 420; initialDepth = 188.014875; finalDepth = 185.677451; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 185.677451 # Seafloor depth: -235.677451 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 105.152121 meters # Minimum depth: 238.014875 meters looking forward 100.000000 meters along route # Maximum depth: 242.108424 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 188.014875 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.588956; longitude = -136.110733; duration = 420; initialDepth = 188.719716; finalDepth = 188.014875; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 188.014875 # Seafloor depth: -238.014875 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 105.150798 meters # Minimum depth: 238.719716 meters looking forward 100.000000 meters along route # Maximum depth: 240.706921 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 188.719716 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.589726; longitude = -136.112369; duration = 420; initialDepth = 186.876521; finalDepth = 188.719716; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.82873 # Actual altitude: 51.82873 # Commanded vehicle depth: 188.719716 # Seafloor depth: -240.548446 # 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 12 # Segment length 105.149475 meters # Minimum depth: 236.876521 meters looking forward 100.000000 meters along route # Maximum depth: 245.697751 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 186.876521 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.590496; longitude = -136.114006; duration = 420; initialDepth = 195.726514; finalDepth = 186.876521; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.82873 # Actual altitude: 51.82873 # Commanded vehicle depth: 186.876521 # Seafloor depth: -236.876521 # 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 12 # Segment length 105.148151 meters # Minimum depth: 245.726514 meters looking forward 100.000000 meters along route # Maximum depth: 247.413606 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 195.726514 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.591266; longitude = -136.115643; duration = 420; initialDepth = 197.166432; finalDepth = 195.726514; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1337 # Actual altitude: 50.1337 # Commanded vehicle depth: 195.726514 # Seafloor depth: -245.860214 # 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 12 # Segment length 105.146829 meters # Minimum depth: 247.166432 meters looking forward 100.000000 meters along route # Maximum depth: 249.748772 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 197.166432 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.592035; longitude = -136.117279; duration = 420; initialDepth = 199.277344; finalDepth = 197.166432; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1337 # Actual altitude: 50.1337 # Commanded vehicle depth: 197.166432 # Seafloor depth: -247.166432 # 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 12 # Segment length 105.145505 meters # Minimum depth: 249.277344 meters looking forward 100.000000 meters along route # Maximum depth: 254.483855 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 199.277344 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.592805; longitude = -136.118916; duration = 420; initialDepth = 203.819708; finalDepth = 199.277344; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 199.277344 # Seafloor depth: -249.277344 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 106.350063 meters # Minimum depth: 253.819708 meters looking forward 100.000000 meters along route # Maximum depth: 261.189776 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 203.819708 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.593575; longitude = -136.120553; duration = 425; initialDepth = 211.233376; finalDepth = 203.819708; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 203.819708 # Seafloor depth: -253.819708 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 103.936979 meters # Minimum depth: 261.233376 meters looking forward 100.000000 meters along route # Maximum depth: 264.631260 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 211.233376 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.594354; longitude = -136.122208; duration = 415; initialDepth = 215.182836; finalDepth = 211.233376; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 211.233376 # Seafloor depth: -261.233376 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 105.141537 meters # Minimum depth: 265.182836 meters looking forward 100.000000 meters along route # Maximum depth: 270.316625 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 215.182836 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.595115; longitude = -136.123826; duration = 420; initialDepth = 220.275510; finalDepth = 215.182836; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 215.182836 # Seafloor depth: -265.182836 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 105.140214 meters # Minimum depth: 270.275510 meters looking forward 100.000000 meters along route # Maximum depth: 273.865199 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 220.275510 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.595885; longitude = -136.125463; duration = 420; initialDepth = 222.382747; finalDepth = 220.275510; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 220.27551 # Seafloor depth: -270.275510 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 105.138891 meters # Minimum depth: 272.382747 meters looking forward 100.000000 meters along route # Maximum depth: 275.884084 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 222.382747 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.596655; longitude = -136.127099; duration = 420; initialDepth = 226.688445; finalDepth = 222.382747; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.746887 # Actual altitude: 50.746887 # Commanded vehicle depth: 222.382747 # Seafloor depth: -273.129634 # 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 12 # Segment length 105.137568 meters # Minimum depth: 276.688445 meters looking forward 100.000000 meters along route # Maximum depth: 280.529975 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 226.688445 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.597424; longitude = -136.128736; duration = 420; initialDepth = 229.761447; finalDepth = 226.688445; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.746887 # Actual altitude: 50.746887 # Commanded vehicle depth: 226.688445 # Seafloor depth: -276.688445 # 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 12 # Segment length 108.810661 meters # Minimum depth: 279.761447 meters looking forward 100.000000 meters along route # Maximum depth: 280.511517 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 229.761447 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.598194; longitude = -136.130372; duration = 435; initialDepth = 230.621592; finalDepth = 229.761447; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7500700000001 # Actual altitude: 50.7500700000001 # Commanded vehicle depth: 229.761447 # Seafloor depth: -280.511517 # 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 12 # Segment length 101.460507 meters # Minimum depth: 280.621592 meters looking forward 100.000000 meters along route # Maximum depth: 281.556128 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 230.621592 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.598991; longitude = -136.132066; duration = 405; initialDepth = 231.046991; finalDepth = 230.621592; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7500700000001 # Actual altitude: 50.7500700000001 # Commanded vehicle depth: 230.621592 # Seafloor depth: -280.621592 # 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 12 # Segment length 105.133600 meters # Minimum depth: 281.046991 meters looking forward 100.000000 meters along route # Maximum depth: 285.104572 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 231.046991 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.599734; longitude = -136.133646; duration = 420; initialDepth = 234.436475; finalDepth = 231.046991; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 231.046991 # Seafloor depth: -281.046991 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 105.132277 meters # Minimum depth: 284.436475 meters looking forward 100.000000 meters along route # Maximum depth: 289.524791 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 234.436475 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.600504; longitude = -136.135282; duration = 420; initialDepth = 239.392054; finalDepth = 234.436475; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.500352 # Actual altitude: 50.500352 # Commanded vehicle depth: 234.436475 # Seafloor depth: -284.936827 # 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 12 # Segment length 105.130955 meters # Minimum depth: 289.392054 meters looking forward 100.000000 meters along route # Maximum depth: 294.255733 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 239.392054 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.601274; longitude = -136.136919; duration = 420; initialDepth = 244.128062; finalDepth = 239.392054; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.500352 # Actual altitude: 50.500352 # Commanded vehicle depth: 239.392054 # Seafloor depth: -289.392054 # 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 12 # Segment length 105.129632 meters # Minimum depth: 294.128062 meters looking forward 100.000000 meters along route # Maximum depth: 301.529851 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 244.128062 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.602043; longitude = -136.138556; duration = 420; initialDepth = 251.430744; finalDepth = 244.128062; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 244.128062 # Seafloor depth: -294.128062 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 102.242750 meters # Minimum depth: 301.430744 meters looking forward 100.000000 meters along route # Maximum depth: 308.751214 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 251.430744 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.602813; longitude = -136.140192; duration = 408; initialDepth = 257.381338; finalDepth = 251.430744; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 251.430744 # Seafloor depth: -301.430744 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; 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 11 # Segment length 90.323718 meters # Minimum depth: 307.381338 meters looking forward 100.000000 meters along route # Maximum depth: 309.215168 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 257.381338 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.603562; longitude = -136.141784; duration = 361; # abortOnTimeout = True; initialDepth = 257.437936; finalDepth = 257.381338; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.604044 # Actual altitude: 51.604044 # Commanded vehicle depth: 257.381338 # Seafloor depth: -308.985382 # 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 11 # Segment length 110.583837 meters # Minimum depth: 307.437936 meters looking forward 100.000000 meters along route # Maximum depth: 308.062983 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 257.437936 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.603078; longitude = -136.143738; duration = 442; initialDepth = 253.277165; finalDepth = 257.437936; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.604044 # Actual altitude: 51.604044 # Commanded vehicle depth: 257.437936 # Seafloor depth: -307.616969 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 152.905799 meters # Minimum depth: 303.277165 meters looking forward 100.000000 meters along route # Maximum depth: 307.365013 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 253.277165 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.602486; longitude = -136.146131; duration = 611; # abortOnTimeout = True; initialDepth = 247.140927; finalDepth = 253.277165; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.087848 # Actual altitude: 54.087848 # Commanded vehicle depth: 253.277165 # Seafloor depth: -307.365013 # 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 10 # Segment length 104.592908 meters # Minimum depth: 297.140927 meters looking forward 100.000000 meters along route # Maximum depth: 303.249641 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 247.140927 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.601369; longitude = -136.143738; duration = 418; initialDepth = 242.648610; finalDepth = 247.140927; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.108714 # Actual altitude: 56.108714 # Commanded vehicle depth: 247.140927 # Seafloor depth: -303.249641 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 108.986802 meters # Minimum depth: 292.648610 meters looking forward 100.000000 meters along route # Maximum depth: 296.961527 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 242.648610 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.600605; longitude = -136.142102; duration = 435; initialDepth = 236.006065; finalDepth = 242.648610; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.108714 # Actual altitude: 56.108714 # Commanded vehicle depth: 242.64861 # Seafloor depth: -296.961527 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.202972 meters # Minimum depth: 286.006065 meters looking forward 100.000000 meters along route # Maximum depth: 292.525077 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 236.006065 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.599809; longitude = -136.140396; duration = 400; initialDepth = 231.778195; finalDepth = 236.006065; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.519012 # Actual altitude: 56.519012 # Commanded vehicle depth: 236.006065 # Seafloor depth: -292.525077 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 104.596866 meters # Minimum depth: 281.778195 meters looking forward 100.000000 meters along route # Maximum depth: 284.966926 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 231.778195 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.599077; longitude = -136.138828; duration = 418; initialDepth = 227.132332; finalDepth = 231.778195; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.519012 # Actual altitude: 56.519012 # Commanded vehicle depth: 231.778195 # Seafloor depth: -284.966926 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 104.598186 meters # Minimum depth: 277.132332 meters looking forward 100.000000 meters along route # Maximum depth: 281.402706 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 227.132332 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.598314; longitude = -136.137192; duration = 418; initialDepth = 225.433958; finalDepth = 227.132332; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.270374 # Actual altitude: 54.270374 # Commanded vehicle depth: 227.132332 # Seafloor depth: -281.402706 # 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 104.599505 meters # Minimum depth: 275.433958 meters looking forward 100.000000 meters along route # Maximum depth: 278.576924 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 225.433958 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.597550; longitude = -136.135555; duration = 418; initialDepth = 225.555593; finalDepth = 225.433958; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.270374 # Actual altitude: 54.270374 # Commanded vehicle depth: 225.433958 # Seafloor depth: -276.559554 # 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 108.889724 meters # Minimum depth: 275.555593 meters looking forward 100.000000 meters along route # Maximum depth: 278.464553 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 225.555593 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.596786; longitude = -136.133918; duration = 435; initialDepth = 220.747313; finalDepth = 225.555593; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.90896 # Actual altitude: 52.90896 # Commanded vehicle depth: 225.555593 # Seafloor depth: -278.464553 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.313244 meters # Minimum depth: 270.747313 meters looking forward 100.000000 meters along route # Maximum depth: 275.761247 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 220.747313 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.595990; longitude = -136.132215; duration = 401; initialDepth = 218.223952; finalDepth = 220.747313; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.013934 # Actual altitude: 55.013934 # Commanded vehicle depth: 220.747313 # Seafloor depth: -275.761247 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 104.603464 meters # Minimum depth: 268.223952 meters looking forward 100.000000 meters along route # Maximum depth: 270.644512 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 218.223952 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.595258; longitude = -136.130645; duration = 418; initialDepth = 212.583435; finalDepth = 218.223952; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.013934 # Actual altitude: 55.013934 # Commanded vehicle depth: 218.223952 # Seafloor depth: -270.608867 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 104.604783 meters # Minimum depth: 262.583435 meters looking forward 100.000000 meters along route # Maximum depth: 266.029775 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 212.583435 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.594494; longitude = -136.129009; duration = 418; initialDepth = 206.208585; finalDepth = 212.583435; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.44634 # Actual altitude: 53.44634 # Commanded vehicle depth: 212.583435 # Seafloor depth: -266.029775 # 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 10 # Segment length 104.606103 meters # Minimum depth: 256.208585 meters looking forward 100.000000 meters along route # Maximum depth: 262.242120 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 206.208585 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.593730; longitude = -136.127372; duration = 418; initialDepth = 201.904414; finalDepth = 206.208585; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.033535 # Actual altitude: 56.033535 # Commanded vehicle depth: 206.208585 # Seafloor depth: -262.242120 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 108.792635 meters # Minimum depth: 251.904414 meters looking forward 100.000000 meters along route # Maximum depth: 255.696835 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 201.904414 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.592966; longitude = -136.125735; duration = 435; initialDepth = 199.828180; finalDepth = 201.904414; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.033535 # Actual altitude: 56.033535 # Commanded vehicle depth: 201.904414 # Seafloor depth: -255.696835 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.423529 meters # Minimum depth: 249.828180 meters looking forward 100.000000 meters along route # Maximum depth: 251.593361 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 199.828180 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.592172; longitude = -136.124033; duration = 401; initialDepth = 191.286735; finalDepth = 199.828180; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.792421 # Actual altitude: 53.792421 # Commanded vehicle depth: 199.82818 # Seafloor depth: -251.593361 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 104.610062 meters # Minimum depth: 241.286735 meters looking forward 100.000000 meters along route # Maximum depth: 246.815178 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 191.286735 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.591438; longitude = -136.122462; duration = 418; initialDepth = 192.064163; finalDepth = 191.286735; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.528443 # Actual altitude: 55.528443 # Commanded vehicle depth: 191.286735 # Seafloor depth: -246.815178 # 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 104.611382 meters # Minimum depth: 242.064163 meters looking forward 100.000000 meters along route # Maximum depth: 244.438381 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 192.064163 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.590674; longitude = -136.120825; duration = 418; initialDepth = 189.229863; finalDepth = 192.064163; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.528443 # Actual altitude: 55.528443 # Commanded vehicle depth: 192.064163 # Seafloor depth: -242.064163 # 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 104.612701 meters # Minimum depth: 239.229863 meters looking forward 100.000000 meters along route # Maximum depth: 244.456813 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 189.229863 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.589910; longitude = -136.119189; duration = 418; initialDepth = 189.344757; finalDepth = 189.229863; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.505554 # Actual altitude: 54.505554 # Commanded vehicle depth: 189.229863 # Seafloor depth: -243.735417 # 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 10 # Segment length 108.695534 meters # Minimum depth: 239.344757 meters looking forward 100.000000 meters along route # Maximum depth: 242.265358 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 189.344757 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.589147; longitude = -136.117552; duration = 434; initialDepth = 186.506942; finalDepth = 189.344757; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.505554 # Actual altitude: 54.505554 # Commanded vehicle depth: 189.344757 # Seafloor depth: -239.377933 # 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 10 # Segment length 100.533828 meters # Minimum depth: 236.506942 meters looking forward 100.000000 meters along route # Maximum depth: 241.946639 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 186.506942 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.588353; longitude = -136.115852; duration = 402; initialDepth = 182.486454; finalDepth = 186.506942; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.74332 # Actual altitude: 52.74332 # Commanded vehicle depth: 186.506942 # Seafloor depth: -239.250262 # 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 10 # Segment length 104.616661 meters # Minimum depth: 232.486454 meters looking forward 100.000000 meters along route # Maximum depth: 236.502097 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 182.486454 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.587619; longitude = -136.114279; duration = 418; initialDepth = 176.953293; finalDepth = 182.486454; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.74332 # Actual altitude: 52.74332 # Commanded vehicle depth: 182.486454 # Seafloor depth: -234.619546 # 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 10 # Segment length 104.617981 meters # Minimum depth: 226.953293 meters looking forward 100.000000 meters along route # Maximum depth: 228.026353 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 176.953293 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.586855; longitude = -136.112642; duration = 418; initialDepth = 171.778159; finalDepth = 176.953293; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.133092 # Actual altitude: 52.133092 # Commanded vehicle depth: 176.953293 # Seafloor depth: -228.026353 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 104.619301 meters # Minimum depth: 221.778159 meters looking forward 100.000000 meters along route # Maximum depth: 225.290515 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 171.778159 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.586091; longitude = -136.111006; duration = 418; initialDepth = 170.706882; finalDepth = 171.778159; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.512356 # Actual altitude: 53.512356 # Commanded vehicle depth: 171.778159 # Seafloor depth: -225.290515 # 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 10 # Segment length 108.598421 meters # Minimum depth: 220.706882 meters looking forward 100.000000 meters along route # Maximum depth: 224.348249 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 170.706882 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.585327; longitude = -136.109369; duration = 434; initialDepth = 169.770360; finalDepth = 170.706882; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.512356 # Actual altitude: 53.512356 # Commanded vehicle depth: 170.706882 # Seafloor depth: -224.158721 # 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 10 # Segment length 100.644141 meters # Minimum depth: 219.770360 meters looking forward 100.000000 meters along route # Maximum depth: 221.155018 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 169.770360 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.584534; longitude = -136.107670; duration = 402; initialDepth = 160.705301; finalDepth = 169.770360; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.451839 # Actual altitude: 53.451839 # Commanded vehicle depth: 169.77036 # Seafloor depth: -220.683347 # 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 10 # Segment length 104.623261 meters # Minimum depth: 210.705301 meters looking forward 100.000000 meters along route # Maximum depth: 215.878135 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 160.705301 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.583799; longitude = -136.106096; duration = 418; initialDepth = 158.614970; finalDepth = 160.705301; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.172834 # Actual altitude: 55.172834 # Commanded vehicle depth: 160.705301 # Seafloor depth: -215.878135 # 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 104.624581 meters # Minimum depth: 208.614970 meters looking forward 100.000000 meters along route # Maximum depth: 211.029631 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 158.614970 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.583035; longitude = -136.104459; duration = 418; initialDepth = 154.676535; finalDepth = 158.614970; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.172834 # Actual altitude: 55.172834 # Commanded vehicle depth: 158.61497 # Seafloor depth: -210.526360 # 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 104.625902 meters # Minimum depth: 204.676535 meters looking forward 100.000000 meters along route # Maximum depth: 208.020111 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 154.676535 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.582271; longitude = -136.102822; duration = 418; initialDepth = 148.577453; finalDepth = 154.676535; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.343576 # Actual altitude: 53.343576 # Commanded vehicle depth: 154.676535 # Seafloor depth: -208.020111 # 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 108.501295 meters # Minimum depth: 198.577453 meters looking forward 100.000000 meters along route # Maximum depth: 204.645502 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 148.577453 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.581507; longitude = -136.101186; duration = 434; initialDepth = 146.521133; finalDepth = 148.577453; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.068049 # Actual altitude: 56.068049 # Commanded vehicle depth: 148.577453 # Seafloor depth: -204.645502 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.754468 meters # Minimum depth: 196.521133 meters looking forward 100.000000 meters along route # Maximum depth: 198.071825 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 146.521133 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.580715; longitude = -136.099488; duration = 403; initialDepth = 144.685196; finalDepth = 146.521133; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.068049 # Actual altitude: 56.068049 # Commanded vehicle depth: 146.521133 # Seafloor depth: -198.071825 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 104.629862 meters # Minimum depth: 194.685196 meters looking forward 100.000000 meters along route # Maximum depth: 197.225256 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 144.685196 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.579980; longitude = -136.097912; duration = 418; initialDepth = 138.729152; finalDepth = 144.685196; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.54006 # Actual altitude: 52.54006 # Commanded vehicle depth: 144.685196 # Seafloor depth: -197.225256 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 104.631182 meters # Minimum depth: 188.729152 meters looking forward 100.000000 meters along route # Maximum depth: 193.507393 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 138.729152 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.579216; longitude = -136.096276; duration = 418; initialDepth = 135.370186; finalDepth = 138.729152; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.778241 # Actual altitude: 54.778241 # Commanded vehicle depth: 138.729152 # Seafloor depth: -193.507393 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 104.632503 meters # Minimum depth: 185.370186 meters looking forward 100.000000 meters along route # Maximum depth: 188.000418 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 135.370186 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.578452; longitude = -136.094639; duration = 418; initialDepth = 126.062788; finalDepth = 135.370186; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.778241 # Actual altitude: 54.778241 # Commanded vehicle depth: 135.370186 # Seafloor depth: -188.000418 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 108.404157 meters # Minimum depth: 176.062788 meters looking forward 100.000000 meters along route # Maximum depth: 185.247054 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 126.062788 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.577688; longitude = -136.093002; duration = 433; initialDepth = 124.460224; finalDepth = 126.062788; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.184266 # Actual altitude: 59.184266 # Commanded vehicle depth: 126.062788 # Seafloor depth: -185.247054 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.864809 meters # Minimum depth: 174.460224 meters looking forward 100.000000 meters along route # Maximum depth: 180.322251 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 124.460224 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.576896; longitude = -136.091307; duration = 403; initialDepth = 123.040638; finalDepth = 124.460224; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.184266 # Actual altitude: 59.184266 # Commanded vehicle depth: 124.460224 # Seafloor depth: -176.710094 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 104.636464 meters # Minimum depth: 173.040638 meters looking forward 100.000000 meters along route # Maximum depth: 175.432302 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 123.040638 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.576160; longitude = -136.089729; duration = 418; initialDepth = 116.319004; finalDepth = 123.040638; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.24987 # Actual altitude: 52.24987 # Commanded vehicle depth: 123.040638 # Seafloor depth: -173.448940 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 104.637785 meters # Minimum depth: 166.319004 meters looking forward 100.000000 meters along route # Maximum depth: 172.502563 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 116.319004 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.575396; longitude = -136.088093; duration = 418; initialDepth = 83.326389; finalDepth = 116.319004; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.183559 # Actual altitude: 56.183559 # Commanded vehicle depth: 116.319004 # Seafloor depth: -172.502563 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 104.639104 meters # Minimum depth: 133.326389 meters looking forward 100.000000 meters along route # Maximum depth: 164.912741 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 83.326389 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.574632; longitude = -136.086456; duration = 418; initialDepth = 79.053301; finalDepth = 83.326389; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.586352 # Actual altitude: 81.586352 # Commanded vehicle depth: 83.326389 # Seafloor depth: -164.912741 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 48.95; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 108.307007 meters # Minimum depth: 129.053301 meters looking forward 100.000000 meters along route # Maximum depth: 132.813477 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 79.053301 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.573868; longitude = -136.084819; duration = 433; initialDepth = 77.002483; finalDepth = 79.053301; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.586352 # Actual altitude: 81.586352 # Commanded vehicle depth: 79.053301 # Seafloor depth: -132.813477 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 48.95; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.975165 meters # Minimum depth: 127.002483 meters looking forward 100.000000 meters along route # Maximum depth: 128.959529 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 77.002483 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.573077; longitude = -136.083125; duration = 403; initialDepth = 74.846090; finalDepth = 77.002483; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.760176 # Actual altitude: 53.760176 # Commanded vehicle depth: 77.002483 # Seafloor depth: -128.959529 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 104.643066 meters # Minimum depth: 124.846090 meters looking forward 100.000000 meters along route # Maximum depth: 126.602116 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 74.846090 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.572340; longitude = -136.081546; duration = 418; initialDepth = 73.038710; finalDepth = 74.846090; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.957046 # Actual altitude: 51.957046 # Commanded vehicle depth: 74.84609 # Seafloor depth: -126.602116 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 104.644388 meters # Minimum depth: 123.038710 meters looking forward 100.000000 meters along route # Maximum depth: 124.427169 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 73.038710 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.571576; longitude = -136.079909; duration = 418; initialDepth = 72.998550; finalDepth = 73.038710; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.756026 # Actual altitude: 51.756026 # Commanded vehicle depth: 73.03871 # Seafloor depth: -124.427169 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 104.645707 meters # Minimum depth: 122.998550 meters looking forward 100.000000 meters along route # Maximum depth: 125.451999 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 72.998550 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.570813; longitude = -136.078273; duration = 418; initialDepth = 68.573122; finalDepth = 72.998550; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.388459 # Actual altitude: 51.388459 # Commanded vehicle depth: 72.99855 # Seafloor depth: -122.998550 # 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 10 # Segment length 108.209845 meters # Minimum depth: 118.573122 meters looking forward 100.000000 meters along route # Maximum depth: 127.935766 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 68.573122 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.570049; longitude = -136.076636; duration = 432; initialDepth = 66.028920; finalDepth = 68.573122; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.224288 # Actual altitude: 57.224288 # Commanded vehicle depth: 68.573122 # Seafloor depth: -125.797410 # 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 10 # Segment length 101.085533 meters # Minimum depth: 116.028920 meters looking forward 100.000000 meters along route # Maximum depth: 118.303070 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.028920 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.569259; longitude = -136.074944; duration = 404; initialDepth = 66.604798; finalDepth = 66.028920; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.224288 # Actual altitude: 57.224288 # Commanded vehicle depth: 66.02892 # Seafloor depth: -118.303070 # 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 10 # Segment length 104.649671 meters # Minimum depth: 116.604798 meters looking forward 100.000000 meters along route # Maximum depth: 120.299640 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.604798 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.568521; longitude = -136.073363; duration = 418; initialDepth = 65.470772; finalDepth = 66.604798; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.83112 # Actual altitude: 52.83112 # Commanded vehicle depth: 66.604798 # Seafloor depth: -119.435918 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 104.650991 meters # Minimum depth: 115.470772 meters looking forward 100.000000 meters along route # Maximum depth: 117.673250 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.470772 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.567757; longitude = -136.071726; duration = 418; initialDepth = 61.645631; finalDepth = 65.470772; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.83112 # Actual altitude: 52.83112 # Commanded vehicle depth: 65.470772 # Seafloor depth: -116.280003 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 104.652311 meters # Minimum depth: 111.645631 meters looking forward 100.000000 meters along route # Maximum depth: 117.882983 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.645631 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.566993; longitude = -136.070090; duration = 418; initialDepth = 61.857067; finalDepth = 61.645631; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.237352 # Actual altitude: 56.237352 # Commanded vehicle depth: 61.645631 # Seafloor depth: -117.882983 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 108.112671 meters # Minimum depth: 111.857067 meters looking forward 100.000000 meters along route # Maximum depth: 113.570905 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.857067 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.566229; longitude = -136.068453; duration = 432; initialDepth = 61.737819; finalDepth = 61.857067; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.237352 # Actual altitude: 56.237352 # Commanded vehicle depth: 61.857067 # Seafloor depth: -111.857067 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.195916 meters # Minimum depth: 111.737819 meters looking forward 100.000000 meters along route # Maximum depth: 113.278178 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.737819 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.565440; longitude = -136.066762; duration = 404; initialDepth = 55.467840; finalDepth = 61.737819; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.288975 # Actual altitude: 51.288975 # Commanded vehicle depth: 61.737819 # Seafloor depth: -113.026794 # 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 10 # Segment length 104.656275 meters # Minimum depth: 105.467840 meters looking forward 100.000000 meters along route # Maximum depth: 113.874325 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.467840 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.564701; longitude = -136.065180; duration = 418; initialDepth = 54.285315; finalDepth = 55.467840; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.584224 # Actual altitude: 57.584224 # Commanded vehicle depth: 55.46784 # Seafloor depth: -113.052064 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 104.657595 meters # Minimum depth: 104.285315 meters looking forward 100.000000 meters along route # Maximum depth: 107.682005 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.285315 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.563937; longitude = -136.063543; duration = 418; initialDepth = 52.572804; finalDepth = 54.285315; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.584224 # Actual altitude: 57.584224 # Commanded vehicle depth: 54.285315 # Seafloor depth: -106.821844 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 104.658917 meters # Minimum depth: 102.572804 meters looking forward 100.000000 meters along route # Maximum depth: 103.870399 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.572804 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.563173; longitude = -136.061906; duration = 418; initialDepth = 49.770033; finalDepth = 52.572804; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.536529 # Actual altitude: 52.536529 # Commanded vehicle depth: 52.572804 # Seafloor depth: -103.870399 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 104.660238 meters # Minimum depth: 99.770033 meters looking forward 100.000000 meters along route # Maximum depth: 103.454619 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 49.770033 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.562409; longitude = -136.060270; duration = 418; initialDepth = 48.777541; finalDepth = 49.770033; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.979502 # Actual altitude: 52.979502 # Commanded vehicle depth: 49.770033 # Seafloor depth: -102.749535 # 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 10 # Segment length 102.960989 meters # Minimum depth: 98.777541 meters looking forward 100.000000 meters along route # Maximum depth: 100.261931 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 48.777541 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.561646; longitude = -136.058633; duration = 411; initialDepth = 49.053125; finalDepth = 48.777541; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.979502 # Actual altitude: 52.979502 # Commanded vehicle depth: 48.777541 # Seafloor depth: -100.002876 # 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; } # ####################################################### # # 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 94.801409 meters # Minimum depth: 99.053125 meters looking forward 100.000000 meters along route # Maximum depth: 99.609147 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 49.053125 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.560894; longitude = -136.057023; duration = 379; # abortOnTimeout = True; initialDepth = 49.399695; finalDepth = 49.053125; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.225335 # Actual altitude: 51.225335 # Commanded vehicle depth: 49.053125 # Seafloor depth: -99.053125 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 104.338358 meters # Minimum depth: 99.399695 meters looking forward 100.000000 meters along route # Maximum depth: 99.686413 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 49.399695 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.560439; longitude = -136.059179; duration = 417; initialDepth = 49.549902; finalDepth = 49.399695; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.187756 # Actual altitude: 50.187756 # Commanded vehicle depth: 49.399695 # Seafloor depth: -99.587451 # 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; } # ####################################################### # # 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 109.909787 meters # Minimum depth: 99.549902 meters looking forward 100.000000 meters along route # Maximum depth: 101.844570 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 49.549902 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.559938; longitude = -136.061551; duration = 439; # abortOnTimeout = True; initialDepth = 47.501509; finalDepth = 49.549902; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.187756 # Actual altitude: 50.187756 # Commanded vehicle depth: 49.549902 # Seafloor depth: -99.549902 # 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 8 # Segment length 104.630629 meters # Minimum depth: 97.501509 meters looking forward 100.000000 meters along route # Maximum depth: 101.936683 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 47.501509 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.560740; longitude = -136.063270; duration = 418; initialDepth = 52.006317; finalDepth = 47.501509; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.405034 # Actual altitude: 54.405034 # Commanded vehicle depth: 47.501509 # Seafloor depth: -101.906543 # 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 8 # Segment length 104.629308 meters # Minimum depth: 102.006317 meters looking forward 100.000000 meters along route # Maximum depth: 106.864314 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.006317 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.561504; longitude = -136.064907; duration = 418; initialDepth = 54.108517; finalDepth = 52.006317; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.405034 # Actual altitude: 54.405034 # Commanded vehicle depth: 52.006317 # Seafloor depth: -102.006317 # 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 8 # Segment length 104.627987 meters # Minimum depth: 104.108517 meters looking forward 100.000000 meters along route # Maximum depth: 113.517847 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.108517 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.562267; longitude = -136.066543; duration = 418; initialDepth = 60.772181; finalDepth = 54.108517; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.128851 # Actual altitude: 52.128851 # Commanded vehicle depth: 54.108517 # Seafloor depth: -106.237368 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 105.834977 meters # Minimum depth: 110.772181 meters looking forward 100.000000 meters along route # Maximum depth: 113.428480 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.772181 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.563031; longitude = -136.068180; duration = 423; initialDepth = 61.018143; finalDepth = 60.772181; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.656299 # Actual altitude: 52.656299 # Commanded vehicle depth: 60.772181 # Seafloor depth: -113.428480 # 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 8 # Segment length 103.417035 meters # Minimum depth: 111.018143 meters looking forward 100.000000 meters along route # Maximum depth: 111.413822 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.018143 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.563803; longitude = -136.069836; duration = 413; initialDepth = 61.203013; finalDepth = 61.018143; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.656299 # Actual altitude: 52.656299 # Commanded vehicle depth: 61.018143 # Seafloor depth: -111.222386 # 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 8 # Segment length 104.624025 meters # Minimum depth: 111.203013 meters looking forward 100.000000 meters along route # Maximum depth: 111.904395 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.203013 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.564558; longitude = -136.071453; duration = 418; initialDepth = 61.530571; finalDepth = 61.203013; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.561213 # Actual altitude: 50.561213 # Commanded vehicle depth: 61.203013 # Seafloor depth: -111.764226 # 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 8 # Segment length 104.622704 meters # Minimum depth: 111.530571 meters looking forward 100.000000 meters along route # Maximum depth: 114.018086 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.530571 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.565322; longitude = -136.073090; duration = 418; initialDepth = 64.679408; finalDepth = 61.530571; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.561213 # Actual altitude: 50.561213 # Commanded vehicle depth: 61.530571 # Seafloor depth: -111.530571 # 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 8 # Segment length 104.621383 meters # Minimum depth: 114.679408 meters looking forward 100.000000 meters along route # Maximum depth: 118.203187 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.679408 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.566085; longitude = -136.074727; duration = 418; initialDepth = 68.561923; finalDepth = 64.679408; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 64.679408 # Seafloor depth: -114.679408 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 105.959732 meters # Minimum depth: 118.561923 meters looking forward 100.000000 meters along route # Maximum depth: 120.599249 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 68.561923 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.566849; longitude = -136.076363; duration = 423; initialDepth = 67.580054; finalDepth = 68.561923; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 68.561923 # Seafloor depth: -118.561923 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 103.279073 meters # Minimum depth: 117.580054 meters looking forward 100.000000 meters along route # Maximum depth: 119.785298 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 67.580054 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.567622; longitude = -136.078021; duration = 413; initialDepth = 70.876677; finalDepth = 67.580054; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.127917 # Actual altitude: 52.127917 # Commanded vehicle depth: 67.580054 # Seafloor depth: -119.707971 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 104.617422 meters # Minimum depth: 120.876677 meters looking forward 100.000000 meters along route # Maximum depth: 124.782873 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 70.876677 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.568376; longitude = -136.079637; duration = 418; initialDepth = 73.252366; finalDepth = 70.876677; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.127917 # Actual altitude: 52.127917 # Commanded vehicle depth: 70.876677 # Seafloor depth: -120.876677 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 104.616101 meters # Minimum depth: 123.252366 meters looking forward 100.000000 meters along route # Maximum depth: 124.967968 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 73.252366 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.569139; longitude = -136.081273; duration = 418; initialDepth = 73.174367; finalDepth = 73.252366; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.715602 # Actual altitude: 51.715602 # Commanded vehicle depth: 73.252366 # Seafloor depth: -124.967968 # 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 8 # Segment length 104.614781 meters # Minimum depth: 123.174367 meters looking forward 100.000000 meters along route # Maximum depth: 123.791406 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 73.174367 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.569903; longitude = -136.082910; duration = 418; initialDepth = 73.843523; finalDepth = 73.174367; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.715602 # Actual altitude: 51.715602 # Commanded vehicle depth: 73.174367 # Seafloor depth: -123.195907 # 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 8 # Segment length 106.084471 meters # Minimum depth: 123.843523 meters looking forward 100.000000 meters along route # Maximum depth: 126.342577 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 73.843523 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.570667; longitude = -136.084547; duration = 424; initialDepth = 76.393526; finalDepth = 73.843523; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.02154 # Actual altitude: 50.02154 # Commanded vehicle depth: 73.843523 # Seafloor depth: -123.843523 # 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 8 # Segment length 103.141128 meters # Minimum depth: 126.393526 meters looking forward 100.000000 meters along route # Maximum depth: 128.317254 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 76.393526 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.571441; longitude = -136.086206; duration = 412; initialDepth = 78.677719; finalDepth = 76.393526; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 76.393526 # Seafloor depth: -126.393526 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 104.610820 meters # Minimum depth: 128.677719 meters looking forward 100.000000 meters along route # Maximum depth: 135.665253 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 78.677719 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.572194; longitude = -136.087820; duration = 418; initialDepth = 88.906661; finalDepth = 78.677719; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 78.677719 # Seafloor depth: -128.677719 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 104.609499 meters # Minimum depth: 138.906661 meters looking forward 100.000000 meters along route # Maximum depth: 156.814249 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 88.906661 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.572957; longitude = -136.089456; duration = 418; initialDepth = 109.168600; finalDepth = 88.906661; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 88.906661 # Seafloor depth: -138.906661 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 104.608178 meters # Minimum depth: 159.168600 meters looking forward 100.000000 meters along route # Maximum depth: 170.382981 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 109.168600 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.573721; longitude = -136.091093; duration = 418; initialDepth = 120.342468; finalDepth = 109.168600; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 109.1686 # Seafloor depth: -159.168600 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 106.209195 meters # Minimum depth: 170.342468 meters looking forward 100.000000 meters along route # Maximum depth: 175.255123 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 120.342468 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.574484; longitude = -136.092730; duration = 424; initialDepth = 125.286080; finalDepth = 120.342468; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 120.342468 # Seafloor depth: -170.342468 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 103.003202 meters # Minimum depth: 175.286080 meters looking forward 100.000000 meters along route # Maximum depth: 178.184606 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 125.286080 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.575260; longitude = -136.094391; duration = 412; initialDepth = 130.066755; finalDepth = 125.286080; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 125.28608 # Seafloor depth: -175.286080 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 104.604218 meters # Minimum depth: 180.066755 meters looking forward 100.000000 meters along route # Maximum depth: 186.072724 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 130.066755 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.576012; longitude = -136.096003; duration = 418; initialDepth = 136.991571; finalDepth = 130.066755; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 130.066755 # Seafloor depth: -180.066755 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 104.602898 meters # Minimum depth: 186.991571 meters looking forward 100.000000 meters along route # Maximum depth: 192.115904 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 136.991571 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.576775; longitude = -136.097640; duration = 418; initialDepth = 141.438277; finalDepth = 136.991571; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 136.991571 # Seafloor depth: -186.991571 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 104.601577 meters # Minimum depth: 191.438277 meters looking forward 100.000000 meters along route # Maximum depth: 194.952696 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 141.438277 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.577539; longitude = -136.099276; duration = 418; initialDepth = 145.478832; finalDepth = 141.438277; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.199493 # Actual altitude: 50.199493 # Commanded vehicle depth: 141.438277 # Seafloor depth: -191.637770 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 106.333903 meters # Minimum depth: 195.478832 meters looking forward 100.000000 meters along route # Maximum depth: 200.510616 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 145.478832 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.578302; longitude = -136.100913; duration = 425; initialDepth = 150.198842; finalDepth = 145.478832; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.199493 # Actual altitude: 50.199493 # Commanded vehicle depth: 145.478832 # Seafloor depth: -195.478832 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 102.865292 meters # Minimum depth: 200.198842 meters looking forward 100.000000 meters along route # Maximum depth: 202.704419 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 150.198842 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.579079; longitude = -136.102577; duration = 411; initialDepth = 152.484709; finalDepth = 150.198842; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.345739 # Actual altitude: 50.345739 # Commanded vehicle depth: 150.198842 # Seafloor depth: -200.544581 # 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 8 # Segment length 104.597618 meters # Minimum depth: 202.484709 meters looking forward 100.000000 meters along route # Maximum depth: 208.128004 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 152.484709 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.579829; longitude = -136.104186; duration = 418; initialDepth = 158.106706; finalDepth = 152.484709; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.671875 # Actual altitude: 50.671875 # Commanded vehicle depth: 152.484709 # Seafloor depth: -203.156584 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 104.596297 meters # Minimum depth: 208.106706 meters looking forward 100.000000 meters along route # Maximum depth: 211.531265 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 158.106706 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.580593; longitude = -136.105823; duration = 418; initialDepth = 161.673280; finalDepth = 158.106706; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.671875 # Actual altitude: 50.671875 # Commanded vehicle depth: 158.106706 # Seafloor depth: -208.286960 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 104.594977 meters # Minimum depth: 211.673280 meters looking forward 100.000000 meters along route # Maximum depth: 215.245114 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 161.673280 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.581357; longitude = -136.107459; duration = 418; initialDepth = 163.156238; finalDepth = 161.673280; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.180254 # Actual altitude: 50.180254 # Commanded vehicle depth: 161.67328 # Seafloor depth: -211.673280 # 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 8 # Segment length 106.458595 meters # Minimum depth: 213.156238 meters looking forward 100.000000 meters along route # Maximum depth: 217.615937 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 163.156238 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.582120; longitude = -136.109096; duration = 425; initialDepth = 167.752403; finalDepth = 163.156238; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.155627 # Actual altitude: 52.155627 # Commanded vehicle depth: 163.156238 # Seafloor depth: -215.311865 # 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 8 # Segment length 102.727400 meters # Minimum depth: 217.752403 meters looking forward 100.000000 meters along route # Maximum depth: 219.411845 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 167.752403 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.582897; longitude = -136.110762; duration = 410; initialDepth = 169.846845; finalDepth = 167.752403; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.155627 # Actual altitude: 52.155627 # Commanded vehicle depth: 167.752403 # Seafloor depth: -217.752403 # 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 8 # Segment length 104.591018 meters # Minimum depth: 219.846845 meters looking forward 100.000000 meters along route # Maximum depth: 220.412922 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 169.846845 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.583647; longitude = -136.112369; duration = 418; initialDepth = 170.802320; finalDepth = 169.846845; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 169.846845 # Seafloor depth: -219.846845 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 104.589698 meters # Minimum depth: 220.802320 meters looking forward 100.000000 meters along route # Maximum depth: 226.556335 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 170.802320 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.584411; longitude = -136.114006; duration = 418; initialDepth = 177.201013; finalDepth = 170.802320; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 170.80232 # Seafloor depth: -220.802320 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 104.588378 meters # Minimum depth: 227.201013 meters looking forward 100.000000 meters along route # Maximum depth: 230.039108 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 177.201013 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.585174; longitude = -136.115643; duration = 418; initialDepth = 180.200323; finalDepth = 177.201013; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 177.201013 # Seafloor depth: -227.201013 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 106.583271 meters # Minimum depth: 230.200323 meters looking forward 100.000000 meters along route # Maximum depth: 237.312330 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 180.200323 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.585938; longitude = -136.117279; duration = 426; initialDepth = 187.338967; finalDepth = 180.200323; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 180.200323 # Seafloor depth: -230.200323 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 102.589526 meters # Minimum depth: 237.338967 meters looking forward 100.000000 meters along route # Maximum depth: 240.089048 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 187.338967 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.586716; longitude = -136.118947; duration = 410; initialDepth = 190.927149; finalDepth = 187.338967; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 187.338967 # Seafloor depth: -237.338967 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 104.584419 meters # Minimum depth: 240.927149 meters looking forward 100.000000 meters along route # Maximum depth: 242.673962 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 190.927149 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.587465; longitude = -136.120553; duration = 418; initialDepth = 191.123418; finalDepth = 190.927149; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.421173 # Actual altitude: 50.421173 # Commanded vehicle depth: 190.927149 # Seafloor depth: -241.348322 # 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 8 # Segment length 104.583099 meters # Minimum depth: 241.123418 meters looking forward 100.000000 meters along route # Maximum depth: 243.136428 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 191.123418 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.588229; longitude = -136.122189; duration = 418; initialDepth = 190.934964; finalDepth = 191.123418; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.421173 # Actual altitude: 50.421173 # Commanded vehicle depth: 191.123418 # Seafloor depth: -241.123418 # 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 8 # Segment length 104.581780 meters # Minimum depth: 240.934964 meters looking forward 100.000000 meters along route # Maximum depth: 242.855354 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 190.934964 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.588992; longitude = -136.123826; duration = 418; initialDepth = 192.892546; finalDepth = 190.934964; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.915291 # Actual altitude: 51.915291 # Commanded vehicle depth: 190.934964 # Seafloor depth: -242.850255 # 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 8 # Segment length 106.707932 meters # Minimum depth: 242.892546 meters looking forward 100.000000 meters along route # Maximum depth: 250.273639 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 192.892546 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.589756; longitude = -136.125463; duration = 426; initialDepth = 200.362764; finalDepth = 192.892546; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.915291 # Actual altitude: 51.915291 # Commanded vehicle depth: 192.892546 # Seafloor depth: -242.892546 # 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 8 # Segment length 102.451669 meters # Minimum depth: 250.362764 meters looking forward 100.000000 meters along route # Maximum depth: 253.852382 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 200.362764 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.590535; longitude = -136.127132; duration = 409; initialDepth = 202.803960; finalDepth = 200.362764; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 200.362764 # Seafloor depth: -250.362764 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 104.577821 meters # Minimum depth: 252.803960 meters looking forward 100.000000 meters along route # Maximum depth: 258.917925 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 202.803960 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.591283; longitude = -136.128736; duration = 418; initialDepth = 209.545793; finalDepth = 202.803960; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.822974 # Actual altitude: 50.822974 # Commanded vehicle depth: 202.80396 # Seafloor depth: -253.626934 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 104.576501 meters # Minimum depth: 259.545793 meters looking forward 100.000000 meters along route # Maximum depth: 262.731892 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 209.545793 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.592047; longitude = -136.130372; duration = 418; initialDepth = 212.082030; finalDepth = 209.545793; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.822974 # Actual altitude: 50.822974 # Commanded vehicle depth: 209.545793 # Seafloor depth: -259.545793 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 104.575182 meters # Minimum depth: 262.082030 meters looking forward 100.000000 meters along route # Maximum depth: 268.237829 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 212.082030 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.592810; longitude = -136.132009; duration = 418; initialDepth = 218.463663; finalDepth = 212.082030; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.122082 # Actual altitude: 51.122082 # Commanded vehicle depth: 212.08203 # Seafloor depth: -263.204112 # 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 8 # Segment length 106.832577 meters # Minimum depth: 268.463663 meters looking forward 100.000000 meters along route # Maximum depth: 271.168960 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 218.463663 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.593574; longitude = -136.133646; duration = 427; initialDepth = 218.235708; finalDepth = 218.463663; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.122082 # Actual altitude: 51.122082 # Commanded vehicle depth: 218.463663 # Seafloor depth: -268.463663 # 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 8 # Segment length 102.313830 meters # Minimum depth: 268.235708 meters looking forward 100.000000 meters along route # Maximum depth: 270.119928 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 218.235708 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.594354; longitude = -136.135318; duration = 409; initialDepth = 220.004555; finalDepth = 218.235708; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.88422 # Actual altitude: 51.88422 # Commanded vehicle depth: 218.235708 # Seafloor depth: -270.119928 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 104.571224 meters # Minimum depth: 270.004555 meters looking forward 100.000000 meters along route # Maximum depth: 272.572256 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 220.004555 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.595101; longitude = -136.136919; duration = 418; initialDepth = 222.752238; finalDepth = 220.004555; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.88422 # Actual altitude: 51.88422 # Commanded vehicle depth: 220.004555 # Seafloor depth: -270.004555 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 104.569904 meters # Minimum depth: 272.752238 meters looking forward 100.000000 meters along route # Maximum depth: 277.553625 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 222.752238 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.595864; longitude = -136.138556; duration = 418; initialDepth = 227.968839; finalDepth = 222.752238; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 222.752238 # Seafloor depth: -272.752238 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 104.568586 meters # Minimum depth: 277.968839 meters looking forward 100.000000 meters along route # Maximum depth: 282.323323 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 227.968839 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.596628; longitude = -136.140192; duration = 418; initialDepth = 232.559939; finalDepth = 227.968839; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 227.968839 # Seafloor depth: -277.968839 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 106.957206 meters # Minimum depth: 282.559939 meters looking forward 100.000000 meters along route # Maximum depth: 286.565457 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 232.559939 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.597392; longitude = -136.141829; duration = 427; initialDepth = 235.885120; finalDepth = 232.559939; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 232.559939 # Seafloor depth: -282.559939 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 112.063010 meters # Minimum depth: 285.885120 meters looking forward 100.000000 meters along route # Maximum depth: 292.567851 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 235.885120 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.598173; longitude = -136.143503; duration = 448; initialDepth = 242.845379; finalDepth = 235.885120; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 235.88512 # Seafloor depth: -285.885120 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 102.162698 meters # Minimum depth: 292.845379 meters looking forward 100.000000 meters along route # Maximum depth: 297.238636 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 242.845379 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.598991; longitude = -136.145257; duration = 408; initialDepth = 246.965126; finalDepth = 242.845379; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 242.845379 # Seafloor depth: -292.845379 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 89.258181 meters # Minimum depth: 296.965126 meters looking forward 100.000000 meters along route # Maximum depth: 297.633045 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 246.965126 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.599737; longitude = -136.146856; duration = 357; # abortOnTimeout = True; initialDepth = 247.474552; finalDepth = 246.965126; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.651665 # Actual altitude: 50.651665 # Commanded vehicle depth: 246.965126 # Seafloor depth: -297.616791 # 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 7 # Segment length 108.124351 meters # Minimum depth: 297.474552 meters looking forward 100.000000 meters along route # Maximum depth: 298.213254 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 247.474552 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.600169; longitude = -136.144829; duration = 432; initialDepth = 246.112423; finalDepth = 247.474552; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.651665 # Actual altitude: 50.651665 # Commanded vehicle depth: 247.474552 # Seafloor depth: -297.721064 # 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 7 # Segment length 108.122356 meters # Minimum depth: 296.112423 meters looking forward 100.000000 meters along route # Maximum depth: 297.858181 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 246.112423 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.600693; longitude = -136.142374; duration = 432; initialDepth = 242.716255; finalDepth = 246.112423; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.688166 # Actual altitude: 51.688166 # Commanded vehicle depth: 246.112423 # Seafloor depth: -297.800589 # 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 7 # Segment length 103.833473 meters # Minimum depth: 292.716255 meters looking forward 100.000000 meters along route # Maximum depth: 296.021085 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 242.716255 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.601216; longitude = -136.139920; duration = 415; initialDepth = 240.353737; finalDepth = 242.716255; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.30483 # Actual altitude: 53.30483 # Commanded vehicle depth: 242.716255 # Seafloor depth: -296.021085 # 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 7 # Segment length 100.392203 meters # Minimum depth: 290.353737 meters looking forward 100.000000 meters along route # Maximum depth: 292.337647 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 240.353737 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.601719; longitude = -136.137562; duration = 401; initialDepth = 238.011887; finalDepth = 240.353737; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.30483 # Actual altitude: 53.30483 # Commanded vehicle depth: 240.353737 # Seafloor depth: -292.337647 # 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 7 # Segment length 108.116595 meters # Minimum depth: 288.011887 meters looking forward 100.000000 meters along route # Maximum depth: 289.936825 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 238.011887 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.602205; longitude = -136.135282; duration = 432; initialDepth = 237.083426; finalDepth = 238.011887; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.98391 # Actual altitude: 51.98391 # Commanded vehicle depth: 238.011887 # Seafloor depth: -289.936825 # 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 7 # Segment length 108.114601 meters # Minimum depth: 287.083426 meters looking forward 100.000000 meters along route # Maximum depth: 288.753473 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 237.083426 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.602728; longitude = -136.132827; duration = 432; initialDepth = 236.736301; finalDepth = 237.083426; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.924938 # Actual altitude: 51.924938 # Commanded vehicle depth: 237.083426 # Seafloor depth: -288.256973 # 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 7 # Segment length 108.112606 meters # Minimum depth: 286.736301 meters looking forward 100.000000 meters along route # Maximum depth: 288.922877 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 236.736301 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.603252; longitude = -136.130372; duration = 432; initialDepth = 238.414918; finalDepth = 236.736301; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.038177 # Actual altitude: 52.038177 # Commanded vehicle depth: 236.736301 # Seafloor depth: -288.774478 # 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 7 # Segment length 108.110612 meters # Minimum depth: 288.414918 meters looking forward 100.000000 meters along route # Maximum depth: 291.384515 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 238.414918 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.603775; longitude = -136.127917; duration = 432; initialDepth = 239.401367; finalDepth = 238.414918; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.038177 # Actual altitude: 52.038177 # Commanded vehicle depth: 238.414918 # Seafloor depth: -288.414918 # 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 7 # Segment length 108.108619 meters # Minimum depth: 289.401367 meters looking forward 100.000000 meters along route # Maximum depth: 290.107112 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 239.401367 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.604299; longitude = -136.125463; duration = 432; initialDepth = 237.188485; finalDepth = 239.401367; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.705745 # Actual altitude: 50.705745 # Commanded vehicle depth: 239.401367 # Seafloor depth: -290.107112 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 108.106623 meters # Minimum depth: 287.188485 meters looking forward 100.000000 meters along route # Maximum depth: 289.092021 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 237.188485 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.604822; longitude = -136.123008; duration = 432; initialDepth = 236.214736; finalDepth = 237.188485; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.903536 # Actual altitude: 51.903536 # Commanded vehicle depth: 237.188485 # Seafloor depth: -289.092021 # 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 7 # Segment length 108.104630 meters # Minimum depth: 286.214736 meters looking forward 100.000000 meters along route # Maximum depth: 287.736454 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 236.214736 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.605345; longitude = -136.120553; duration = 432; initialDepth = 235.542716; finalDepth = 236.214736; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.903536 # Actual altitude: 51.903536 # Commanded vehicle depth: 236.214736 # Seafloor depth: -287.409266 # 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 7 # Segment length 100.567615 meters # Minimum depth: 285.542716 meters looking forward 100.000000 meters along route # Maximum depth: 287.694588 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 235.542716 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.605869; longitude = -136.118098; duration = 402; initialDepth = 232.705744; finalDepth = 235.542716; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.151872 # Actual altitude: 52.151872 # Commanded vehicle depth: 235.542716 # Seafloor depth: -287.694588 # 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 7 # Segment length 103.624579 meters # Minimum depth: 282.705744 meters looking forward 100.000000 meters along route # Maximum depth: 285.455769 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 232.705744 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.606356; longitude = -136.115814; duration = 414; initialDepth = 229.438951; finalDepth = 232.705744; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.750025 # Actual altitude: 52.750025 # Commanded vehicle depth: 232.705744 # Seafloor depth: -285.455769 # 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 7 # Segment length 108.098869 meters # Minimum depth: 279.438951 meters looking forward 100.000000 meters along route # Maximum depth: 283.222590 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 229.438951 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.606858; longitude = -136.113460; duration = 432; initialDepth = 232.166324; finalDepth = 229.438951; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7836390000001 # Actual altitude: 53.7836390000001 # Commanded vehicle depth: 229.438951 # Seafloor depth: -283.222590 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 108.096875 meters # Minimum depth: 282.166324 meters looking forward 100.000000 meters along route # Maximum depth: 286.249944 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 232.166324 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.607381; longitude = -136.111006; duration = 432; initialDepth = 227.976235; finalDepth = 232.166324; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7836390000001 # Actual altitude: 53.7836390000001 # Commanded vehicle depth: 232.166324 # Seafloor depth: -282.166324 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 108.094882 meters # Minimum depth: 277.976235 meters looking forward 100.000000 meters along route # Maximum depth: 283.406110 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 227.976235 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.607905; longitude = -136.108551; duration = 432; initialDepth = 231.723822; finalDepth = 227.976235; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.429875 # Actual altitude: 55.429875 # Commanded vehicle depth: 227.976235 # Seafloor depth: -283.406110 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 108.092887 meters # Minimum depth: 281.723822 meters looking forward 100.000000 meters along route # Maximum depth: 283.827034 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 231.723822 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.608428; longitude = -136.106096; duration = 432; initialDepth = 228.950853; finalDepth = 231.723822; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.429875 # Actual altitude: 55.429875 # Commanded vehicle depth: 231.723822 # Seafloor depth: -283.733302 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 108.090893 meters # Minimum depth: 278.950853 meters looking forward 100.000000 meters along route # Maximum depth: 282.874716 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 228.950853 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.608951; longitude = -136.103641; duration = 432; initialDepth = 223.998122; finalDepth = 228.950853; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.995099 # Actual altitude: 52.995099 # Commanded vehicle depth: 228.950853 # Seafloor depth: -281.945952 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 103.894393 meters # Minimum depth: 273.998122 meters looking forward 100.000000 meters along route # Maximum depth: 279.384862 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 223.998122 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.609475; longitude = -136.101186; duration = 415; initialDepth = 221.336218; finalDepth = 223.998122; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.078129 # Actual altitude: 55.078129 # Commanded vehicle depth: 223.998122 # Seafloor depth: -279.076251 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 148.851578 meters # Minimum depth: 271.336218 meters looking forward 100.000000 meters along route # Maximum depth: 274.511292 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 221.336218 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.609978; longitude = -136.098826; duration = 595; # abortOnTimeout = True; initialDepth = 220.369150; finalDepth = 221.336218; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.078129 # Actual altitude: 55.078129 # Commanded vehicle depth: 221.336218 # Seafloor depth: -274.209152 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 106.970319 meters # Minimum depth: 270.369150 meters looking forward 100.000000 meters along route # Maximum depth: 272.740968 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 220.369150 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.608879; longitude = -136.096549; duration = 427; initialDepth = 214.718723; finalDepth = 220.369150; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.872934 # Actual altitude: 52.872934 # Commanded vehicle depth: 220.36915 # Seafloor depth: -270.731794 # 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 6 # Segment length 106.971653 meters # Minimum depth: 264.718723 meters looking forward 100.000000 meters along route # Maximum depth: 268.365232 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 214.718723 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.608088; longitude = -136.094912; duration = 427; initialDepth = 211.339780; finalDepth = 214.718723; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.646509 # Actual altitude: 53.646509 # Commanded vehicle depth: 214.718723 # Seafloor depth: -268.365232 # 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 6 # Segment length 106.972987 meters # Minimum depth: 261.339780 meters looking forward 100.000000 meters along route # Maximum depth: 267.120331 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 211.339780 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.607298; longitude = -136.093275; duration = 427; initialDepth = 209.447311; finalDepth = 211.339780; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.970706 # Actual altitude: 53.970706 # Commanded vehicle depth: 211.33978 # Seafloor depth: -265.310486 # 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 6 # Segment length 106.974320 meters # Minimum depth: 259.447311 meters looking forward 100.000000 meters along route # Maximum depth: 265.899086 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 209.447311 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.606508; longitude = -136.091639; duration = 427; initialDepth = 210.698777; finalDepth = 209.447311; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.970706 # Actual altitude: 53.970706 # Commanded vehicle depth: 209.447311 # Seafloor depth: -259.447311 # 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 6 # Segment length 106.975653 meters # Minimum depth: 260.698777 meters looking forward 100.000000 meters along route # Maximum depth: 264.198756 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 210.698777 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.605718; longitude = -136.090002; duration = 427; initialDepth = 211.992973; finalDepth = 210.698777; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.573738 # Actual altitude: 50.573738 # Commanded vehicle depth: 210.698777 # Seafloor depth: -261.272515 # 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 6 # Segment length 106.976988 meters # Minimum depth: 261.992973 meters looking forward 100.000000 meters along route # Maximum depth: 264.366809 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 211.992973 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.604928; longitude = -136.088365; duration = 427; initialDepth = 208.320426; finalDepth = 211.992973; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.373836 # Actual altitude: 52.373836 # Commanded vehicle depth: 211.992973 # Seafloor depth: -264.366809 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 106.978321 meters # Minimum depth: 258.320426 meters looking forward 100.000000 meters along route # Maximum depth: 262.184131 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 208.320426 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.604138; longitude = -136.086729; duration = 427; initialDepth = 202.990448; finalDepth = 208.320426; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.863705 # Actual altitude: 53.863705 # Commanded vehicle depth: 208.320426 # Seafloor depth: -262.184131 # 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 6 # Segment length 109.809104 meters # Minimum depth: 252.990448 meters looking forward 100.000000 meters along route # Maximum depth: 258.291207 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 202.990448 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.603348; longitude = -136.085092; duration = 439; initialDepth = 201.679353; finalDepth = 202.990448; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.300759 # Actual altitude: 55.300759 # Commanded vehicle depth: 202.990448 # Seafloor depth: -258.291207 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 110.804694 meters # Minimum depth: 251.679353 meters looking forward 100.000000 meters along route # Maximum depth: 252.709326 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 201.679353 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.602537; longitude = -136.083412; duration = 443; initialDepth = 198.481558; finalDepth = 201.679353; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.300759 # Actual altitude: 55.300759 # Commanded vehicle depth: 201.679353 # Seafloor depth: -252.709326 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.329168 meters # Minimum depth: 248.481558 meters looking forward 100.000000 meters along route # Maximum depth: 252.472926 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 198.481558 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.601719; longitude = -136.081717; duration = 401; initialDepth = 193.133844; finalDepth = 198.481558; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.991368 # Actual altitude: 53.991368 # Commanded vehicle depth: 198.481558 # Seafloor depth: -252.472926 # 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 6 # Segment length 106.983656 meters # Minimum depth: 243.133844 meters looking forward 100.000000 meters along route # Maximum depth: 248.684785 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 193.133844 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.600978; longitude = -136.080182; duration = 427; initialDepth = 188.458213; finalDepth = 193.133844; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.550941 # Actual altitude: 55.550941 # Commanded vehicle depth: 193.133844 # Seafloor depth: -248.684785 # 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 6 # Segment length 106.984990 meters # Minimum depth: 238.458213 meters looking forward 100.000000 meters along route # Maximum depth: 240.258241 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 188.458213 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.600188; longitude = -136.078546; duration = 427; initialDepth = 188.234779; finalDepth = 188.458213; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.550941 # Actual altitude: 55.550941 # Commanded vehicle depth: 188.458213 # Seafloor depth: -240.089292 # 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 6 # Segment length 106.986324 meters # Minimum depth: 238.234779 meters looking forward 100.000000 meters along route # Maximum depth: 240.254518 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 188.234779 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.599398; longitude = -136.076909; duration = 427; initialDepth = 183.730706; finalDepth = 188.234779; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.631079 # Actual altitude: 51.631079 # Commanded vehicle depth: 188.234779 # Seafloor depth: -238.234779 # 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 6 # Segment length 106.987658 meters # Minimum depth: 233.730706 meters looking forward 100.000000 meters along route # Maximum depth: 236.071619 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 183.730706 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.598608; longitude = -136.075272; duration = 427; initialDepth = 179.257622; finalDepth = 183.730706; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.340913 # Actual altitude: 52.340913 # Commanded vehicle depth: 183.730706 # Seafloor depth: -236.071619 # 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 6 # Segment length 106.988993 meters # Minimum depth: 229.257622 meters looking forward 100.000000 meters along route # Maximum depth: 232.374796 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 179.257622 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.597817; longitude = -136.073636; duration = 427; initialDepth = 175.008941; finalDepth = 179.257622; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.117174 # Actual altitude: 53.117174 # Commanded vehicle depth: 179.257622 # Seafloor depth: -232.374796 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 106.990326 meters # Minimum depth: 225.008941 meters looking forward 100.000000 meters along route # Maximum depth: 229.306010 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 175.008941 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.597027; longitude = -136.071999; duration = 427; initialDepth = 172.666531; finalDepth = 175.008941; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.297069 # Actual altitude: 54.297069 # Commanded vehicle depth: 175.008941 # Seafloor depth: -229.306010 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 105.662107 meters # Minimum depth: 222.666531 meters looking forward 100.000000 meters along route # Maximum depth: 225.635899 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 172.666531 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.596237; longitude = -136.070362; duration = 422; initialDepth = 172.618015; finalDepth = 172.666531; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.297069 # Actual altitude: 54.297069 # Commanded vehicle depth: 172.666531 # Seafloor depth: -225.366407 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 110.030213 meters # Minimum depth: 222.618015 meters looking forward 100.000000 meters along route # Maximum depth: 223.205917 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 172.618015 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.595457; longitude = -136.068746; duration = 440; # abortOnTimeout = True; initialDepth = 172.807855; finalDepth = 172.618015; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.699876 # Actual altitude: 52.699876 # Commanded vehicle depth: 172.618015 # Seafloor depth: -223.205917 # 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 5 # Segment length 110.951465 meters # Minimum depth: 222.807855 meters looking forward 100.000000 meters along route # Maximum depth: 224.123712 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 172.807855 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.594893; longitude = -136.071181; duration = 443; initialDepth = 173.263743; finalDepth = 172.807855; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.587902 # Actual altitude: 50.587902 # Commanded vehicle depth: 172.807855 # Seafloor depth: -222.896436 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.682246 meters # Minimum depth: 223.263743 meters looking forward 100.000000 meters along route # Maximum depth: 224.067623 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 173.263743 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.594324; longitude = -136.073636; duration = 402; initialDepth = 172.646835; finalDepth = 173.263743; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.088581 # Actual altitude: 50.088581 # Commanded vehicle depth: 173.263743 # Seafloor depth: -223.263743 # 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 5 # Segment length 108.898503 meters # Minimum depth: 222.646835 meters looking forward 100.000000 meters along route # Maximum depth: 224.940170 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 172.646835 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.593808; longitude = -136.075863; duration = 435; initialDepth = 172.918948; finalDepth = 172.646835; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.358293 # Actual altitude: 51.358293 # Commanded vehicle depth: 172.646835 # Seafloor depth: -224.005128 # 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 5 # Segment length 103.981617 meters # Minimum depth: 222.918948 meters looking forward 100.000000 meters along route # Maximum depth: 224.161143 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 172.918948 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.593250; longitude = -136.078273; duration = 415; initialDepth = 173.618319; finalDepth = 172.918948; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.358293 # Actual altitude: 51.358293 # Commanded vehicle depth: 172.918948 # Seafloor depth: -224.161143 # 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 5 # Segment length 106.442974 meters # Minimum depth: 223.618319 meters looking forward 100.000000 meters along route # Maximum depth: 225.278969 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 173.618319 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.592717; longitude = -136.080573; duration = 425; initialDepth = 174.458138; finalDepth = 173.618319; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.242195 # Actual altitude: 51.242195 # Commanded vehicle depth: 173.618319 # Seafloor depth: -223.682530 # 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 5 # Segment length 110.125239 meters # Minimum depth: 224.458138 meters looking forward 100.000000 meters along route # Maximum depth: 226.522529 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 174.458138 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.592172; longitude = -136.082928; duration = 440; initialDepth = 175.440729; finalDepth = 174.458138; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.112814 # Actual altitude: 50.112814 # Commanded vehicle depth: 174.458138 # Seafloor depth: -224.570952 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 102.766537 meters # Minimum depth: 225.440729 meters looking forward 100.000000 meters along route # Maximum depth: 226.395514 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 175.440729 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.591607; longitude = -136.085365; duration = 411; initialDepth = 175.113959; finalDepth = 175.440729; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.659511 # Actual altitude: 50.659511 # Commanded vehicle depth: 175.440729 # Seafloor depth: -226.100240 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 106.833262 meters # Minimum depth: 225.113959 meters looking forward 100.000000 meters along route # Maximum depth: 227.201755 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 175.113959 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.591081; longitude = -136.087638; duration = 427; initialDepth = 177.200774; finalDepth = 175.113959; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.659511 # Actual altitude: 50.659511 # Commanded vehicle depth: 175.113959 # Seafloor depth: -225.420411 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 110.967648 meters # Minimum depth: 227.200774 meters looking forward 100.000000 meters along route # Maximum depth: 229.309639 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 177.200774 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.590533; longitude = -136.090002; duration = 443; initialDepth = 174.560019; finalDepth = 177.200774; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.306452 # Actual altitude: 50.306452 # Commanded vehicle depth: 177.200774 # Seafloor depth: -227.200774 # 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 5 # Segment length 101.551323 meters # Minimum depth: 224.560019 meters looking forward 100.000000 meters along route # Maximum depth: 228.225902 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 174.560019 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.589964; longitude = -136.092457; duration = 406; initialDepth = 174.809300; finalDepth = 174.560019; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.665883 # Actual altitude: 53.665883 # Commanded vehicle depth: 174.560019 # Seafloor depth: -228.225902 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 108.059996 meters # Minimum depth: 224.809300 meters looking forward 100.000000 meters along route # Maximum depth: 225.536176 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 174.809300 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.589444; longitude = -136.094704; duration = 432; initialDepth = 175.376019; finalDepth = 174.809300; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.665883 # Actual altitude: 53.665883 # Commanded vehicle depth: 174.8093 # Seafloor depth: -224.809300 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 110.973747 meters # Minimum depth: 225.376019 meters looking forward 100.000000 meters along route # Maximum depth: 226.653460 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 175.376019 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.588890; longitude = -136.097094; duration = 443; initialDepth = 176.316149; finalDepth = 175.376019; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 175.376019 # Seafloor depth: -225.376019 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 110.975859 meters # Minimum depth: 226.316149 meters looking forward 100.000000 meters along route # Maximum depth: 230.680720 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 176.316149 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.588321; longitude = -136.099549; duration = 443; initialDepth = 177.664372; finalDepth = 176.316149; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 176.316149 # Seafloor depth: -226.316149 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 110.977969 meters # Minimum depth: 227.664372 meters looking forward 100.000000 meters along route # Maximum depth: 230.151521 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 177.664372 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.587753; longitude = -136.102004; duration = 443; initialDepth = 175.541548; finalDepth = 177.664372; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.487149 # Actual altitude: 52.487149 # Commanded vehicle depth: 177.664372 # Seafloor depth: -230.151521 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 110.980081 meters # Minimum depth: 225.541548 meters looking forward 100.000000 meters along route # Maximum depth: 229.858327 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 175.541548 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.587184; longitude = -136.104459; duration = 443; initialDepth = 175.870264; finalDepth = 175.541548; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.316779 # Actual altitude: 54.316779 # Commanded vehicle depth: 175.541548 # Seafloor depth: -229.858327 # 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 5 # Segment length 110.982193 meters # Minimum depth: 225.870264 meters looking forward 100.000000 meters along route # Maximum depth: 228.386750 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 175.870264 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.586615; longitude = -136.106914; duration = 443; initialDepth = 171.701311; finalDepth = 175.870264; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.316779 # Actual altitude: 54.316779 # Commanded vehicle depth: 175.870264 # Seafloor depth: -228.386750 # 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 5 # Segment length 110.984303 meters # Minimum depth: 221.701311 meters looking forward 100.000000 meters along route # Maximum depth: 225.843038 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 171.701311 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.586047; longitude = -136.109369; duration = 443; initialDepth = 173.427199; finalDepth = 171.701311; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.141727 # Actual altitude: 54.141727 # Commanded vehicle depth: 171.701311 # Seafloor depth: -225.843038 # 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 5 # Segment length 110.986415 meters # Minimum depth: 223.427199 meters looking forward 100.000000 meters along route # Maximum depth: 226.008196 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 173.427199 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.585478; longitude = -136.111824; duration = 443; initialDepth = 173.620852; finalDepth = 173.427199; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.141727 # Actual altitude: 54.141727 # Commanded vehicle depth: 173.427199 # Seafloor depth: -226.008196 # 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 5 # Segment length 110.988526 meters # Minimum depth: 223.620852 meters looking forward 100.000000 meters along route # Maximum depth: 224.566244 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 173.620852 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.584909; longitude = -136.114279; duration = 443; initialDepth = 174.511648; finalDepth = 173.620852; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.580997 # Actual altitude: 52.580997 # Commanded vehicle depth: 173.620852 # Seafloor depth: -223.620852 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 109.013380 meters # Minimum depth: 224.511648 meters looking forward 100.000000 meters along route # Maximum depth: 227.495339 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 174.511648 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.584341; longitude = -136.116734; duration = 436; initialDepth = 173.913066; finalDepth = 174.511648; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 174.511648 # Seafloor depth: -224.511648 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; 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 102.372098 meters # Minimum depth: 223.913066 meters looking forward 100.000000 meters along route # Maximum depth: 227.552151 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 173.913066 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.583782; longitude = -136.119145; duration = 409; # abortOnTimeout = True; initialDepth = 170.906041; finalDepth = 173.913066; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.639085 # Actual altitude: 53.639085 # Commanded vehicle depth: 173.913066 # Seafloor depth: -227.552151 # 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 4 # Segment length 105.184065 meters # Minimum depth: 220.906041 meters looking forward 100.000000 meters along route # Maximum depth: 221.709646 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 170.906041 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.583033; longitude = -136.117552; duration = 420; initialDepth = 169.322993; finalDepth = 170.906041; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.639085 # Actual altitude: 53.639085 # Commanded vehicle depth: 170.906041 # Seafloor depth: -221.709646 # 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 4 # Segment length 105.185389 meters # Minimum depth: 219.322993 meters looking forward 100.000000 meters along route # Maximum depth: 222.386739 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 169.322993 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.582262; longitude = -136.115915; duration = 420; initialDepth = 166.319225; finalDepth = 169.322993; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.029537 # Actual altitude: 52.029537 # Commanded vehicle depth: 169.322993 # Seafloor depth: -221.352530 # 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 4 # Segment length 106.163655 meters # Minimum depth: 216.319225 meters looking forward 100.000000 meters along route # Maximum depth: 222.305964 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 166.319225 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.581492; longitude = -136.114279; duration = 424; initialDepth = 161.457663; finalDepth = 166.319225; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.986739 # Actual altitude: 55.986739 # Commanded vehicle depth: 166.319225 # Seafloor depth: -222.305964 # 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 4 # Segment length 104.211094 meters # Minimum depth: 211.457663 meters looking forward 100.000000 meters along route # Maximum depth: 216.231512 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 161.457663 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.580715; longitude = -136.112627; duration = 416; initialDepth = 159.774942; finalDepth = 161.457663; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.986739 # Actual altitude: 55.986739 # Commanded vehicle depth: 161.457663 # Seafloor depth: -216.231512 # 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 4 # Segment length 105.189360 meters # Minimum depth: 209.774942 meters looking forward 100.000000 meters along route # Maximum depth: 210.977310 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 159.774942 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.579952; longitude = -136.111006; duration = 420; initialDepth = 154.807893; finalDepth = 159.774942; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.773849 # Actual altitude: 54.773849 # Commanded vehicle depth: 159.774942 # Seafloor depth: -210.977310 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 105.190683 meters # Minimum depth: 204.807893 meters looking forward 100.000000 meters along route # Maximum depth: 208.584015 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 154.807893 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.579182; longitude = -136.109369; duration = 420; initialDepth = 151.935656; finalDepth = 154.807893; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.776122 # Actual altitude: 53.776122 # Commanded vehicle depth: 154.807893 # Seafloor depth: -208.584015 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 105.192007 meters # Minimum depth: 201.935656 meters looking forward 100.000000 meters along route # Maximum depth: 204.366137 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 151.935656 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.578412; longitude = -136.107732; duration = 420; initialDepth = 145.794278; finalDepth = 151.935656; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.776122 # Actual altitude: 53.776122 # Commanded vehicle depth: 151.935656 # Seafloor depth: -204.366137 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 105.193331 meters # Minimum depth: 195.794278 meters looking forward 100.000000 meters along route # Maximum depth: 200.761062 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 145.794278 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.577642; longitude = -136.106096; duration = 420; initialDepth = 141.027988; finalDepth = 145.794278; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.966784 # Actual altitude: 54.966784 # Commanded vehicle depth: 145.794278 # Seafloor depth: -200.761062 # 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 4 # Segment length 108.457699 meters # Minimum depth: 191.027988 meters looking forward 100.000000 meters along route # Maximum depth: 195.683181 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 141.027988 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.576872; longitude = -136.104459; duration = 433; initialDepth = 135.326101; finalDepth = 141.027988; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.966784 # Actual altitude: 54.966784 # Commanded vehicle depth: 141.027988 # Seafloor depth: -195.683181 # 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 4 # Segment length 101.932935 meters # Minimum depth: 185.326101 meters looking forward 100.000000 meters along route # Maximum depth: 190.744016 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 135.326101 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.576078; longitude = -136.102772; duration = 407; initialDepth = 131.701542; finalDepth = 135.326101; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.417915 # Actual altitude: 55.417915 # Commanded vehicle depth: 135.326101 # Seafloor depth: -190.744016 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 105.197302 meters # Minimum depth: 181.701542 meters looking forward 100.000000 meters along route # Maximum depth: 183.923169 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 131.701542 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.575332; longitude = -136.101186; duration = 420; initialDepth = 124.088054; finalDepth = 131.701542; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.417915 # Actual altitude: 55.417915 # Commanded vehicle depth: 131.701542 # Seafloor depth: -183.923169 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 105.198626 meters # Minimum depth: 174.088054 meters looking forward 100.000000 meters along route # Maximum depth: 178.789163 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 124.088054 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.574562; longitude = -136.099549; duration = 420; initialDepth = 110.936746; finalDepth = 124.088054; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.701109 # Actual altitude: 54.701109 # Commanded vehicle depth: 124.088054 # Seafloor depth: -178.789163 # 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 4 # Segment length 105.199950 meters # Minimum depth: 160.936746 meters looking forward 100.000000 meters along route # Maximum depth: 172.767866 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 110.936746 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.573792; longitude = -136.097912; duration = 420; initialDepth = 89.220225; finalDepth = 110.936746; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.83112 # Actual altitude: 61.83112 # Commanded vehicle depth: 110.936746 # Seafloor depth: -172.767866 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 105.201275 meters # Minimum depth: 139.220225 meters looking forward 100.000000 meters along route # Maximum depth: 161.361591 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 89.220225 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.573022; longitude = -136.096276; duration = 420; initialDepth = 79.966823; finalDepth = 89.220225; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.633982 # Actual altitude: 71.633982 # Commanded vehicle depth: 89.220225 # Seafloor depth: -160.854207 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 105.202598 meters # Minimum depth: 129.966823 meters looking forward 100.000000 meters along route # Maximum depth: 139.063200 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 79.966823 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.572252; longitude = -136.094639; duration = 420; initialDepth = 76.929286; finalDepth = 79.966823; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.633982 # Actual altitude: 71.633982 # Commanded vehicle depth: 79.966823 # Seafloor depth: -139.063200 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 105.203922 meters # Minimum depth: 126.929286 meters looking forward 100.000000 meters along route # Maximum depth: 129.522241 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 76.929286 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.571481; longitude = -136.093002; duration = 420; initialDepth = 74.046501; finalDepth = 76.929286; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.096377 # Actual altitude: 59.096377 # Commanded vehicle depth: 76.929286 # Seafloor depth: -129.522241 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.333398 meters # Minimum depth: 124.046501 meters looking forward 100.000000 meters along route # Maximum depth: 126.587986 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 74.046501 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.570711; longitude = -136.091366; duration = 401; initialDepth = 73.846617; finalDepth = 74.046501; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.592955 # Actual altitude: 52.592955 # Commanded vehicle depth: 74.046501 # Seafloor depth: -126.587986 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 91.367061 meters # Minimum depth: 123.846617 meters looking forward 100.000000 meters along route # Maximum depth: 124.374299 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 73.846617 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.569977; longitude = -136.089805; duration = 365; # abortOnTimeout = True; initialDepth = 74.388943; finalDepth = 73.846617; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.541485 # Actual altitude: 52.541485 # Commanded vehicle depth: 73.846617 # Seafloor depth: -123.846617 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.431424 meters # Minimum depth: 124.388943 meters looking forward 100.000000 meters along route # Maximum depth: 124.869155 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 74.388943 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.570461; longitude = -136.087820; duration = 401; initialDepth = 74.952255; finalDepth = 74.388943; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 74.388943 # Seafloor depth: -124.388943 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.429698 meters # Minimum depth: 124.952255 meters looking forward 100.000000 meters along route # Maximum depth: 125.086429 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 74.952255 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.570993; longitude = -136.085638; duration = 401; initialDepth = 75.086766; finalDepth = 74.952255; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.001461 # Actual altitude: 50.001461 # Commanded vehicle depth: 74.952255 # Seafloor depth: -124.953716 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.427972 meters # Minimum depth: 125.086766 meters looking forward 100.000000 meters along route # Maximum depth: 125.725636 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 75.086766 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.571526; longitude = -136.083455; duration = 401; initialDepth = 75.849609; finalDepth = 75.086766; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.001461 # Actual altitude: 50.001461 # Commanded vehicle depth: 75.086766 # Seafloor depth: -125.086766 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.426247 meters # Minimum depth: 125.849609 meters looking forward 100.000000 meters along route # Maximum depth: 126.587248 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 75.849609 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.572058; longitude = -136.081273; duration = 401; initialDepth = 76.599528; finalDepth = 75.849609; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 75.849609 # Seafloor depth: -125.849609 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.424521 meters # Minimum depth: 126.599528 meters looking forward 100.000000 meters along route # Maximum depth: 126.887962 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 76.599528 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.572590; longitude = -136.079091; duration = 401; initialDepth = 76.945989; finalDepth = 76.599528; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 76.599528 # Seafloor depth: -126.599528 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.422796 meters # Minimum depth: 126.945989 meters looking forward 100.000000 meters along route # Maximum depth: 127.335544 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 76.945989 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.573122; longitude = -136.076909; duration = 401; initialDepth = 77.368326; finalDepth = 76.945989; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 76.945989 # Seafloor depth: -126.945989 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.421070 meters # Minimum depth: 127.368326 meters looking forward 100.000000 meters along route # Maximum depth: 127.937079 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 77.368326 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.573654; longitude = -136.074727; duration = 401; initialDepth = 77.958628; finalDepth = 77.368326; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 77.368326 # Seafloor depth: -127.368326 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.419344 meters # Minimum depth: 127.958628 meters looking forward 100.000000 meters along route # Maximum depth: 128.581976 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 77.958628 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.574186; longitude = -136.072544; duration = 401; initialDepth = 78.586073; finalDepth = 77.958628; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 77.958628 # Seafloor depth: -127.958628 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.417619 meters # Minimum depth: 128.586073 meters looking forward 100.000000 meters along route # Maximum depth: 129.366962 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 78.586073 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.574719; longitude = -136.070362; duration = 401; initialDepth = 79.485023; finalDepth = 78.586073; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 78.586073 # Seafloor depth: -128.586073 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.415893 meters # Minimum depth: 129.485023 meters looking forward 100.000000 meters along route # Maximum depth: 130.030005 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 79.485023 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.575251; longitude = -136.068180; duration = 401; initialDepth = 80.010248; finalDepth = 79.485023; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 79.485023 # Seafloor depth: -129.485023 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.414167 meters # Minimum depth: 130.010248 meters looking forward 100.000000 meters along route # Maximum depth: 130.109591 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 80.010248 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.575783; longitude = -136.065998; duration = 401; initialDepth = 80.138339; finalDepth = 80.010248; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.00249 # Actual altitude: 50.00249 # Commanded vehicle depth: 80.010248 # Seafloor depth: -130.012738 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.412442 meters # Minimum depth: 130.138339 meters looking forward 100.000000 meters along route # Maximum depth: 130.228132 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 80.138339 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.576315; longitude = -136.063816; duration = 401; initialDepth = 80.179435; finalDepth = 80.138339; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.00249 # Actual altitude: 50.00249 # Commanded vehicle depth: 80.138339 # Seafloor depth: -130.138339 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.410717 meters # Minimum depth: 130.179435 meters looking forward 100.000000 meters along route # Maximum depth: 130.877532 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 80.179435 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.576847; longitude = -136.061634; duration = 401; initialDepth = 80.946566; finalDepth = 80.179435; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.039867 # Actual altitude: 50.039867 # Commanded vehicle depth: 80.179435 # Seafloor depth: -130.219302 # 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 3 # Segment length 100.408991 meters # Minimum depth: 130.946566 meters looking forward 100.000000 meters along route # Maximum depth: 131.616974 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 80.946566 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.577380; longitude = -136.059451; duration = 401; initialDepth = 81.710643; finalDepth = 80.946566; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.039867 # Actual altitude: 50.039867 # Commanded vehicle depth: 80.946566 # Seafloor depth: -130.946566 # 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 3 # Segment length 100.407266 meters # Minimum depth: 131.710643 meters looking forward 100.000000 meters along route # Maximum depth: 132.244334 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 81.710643 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.577912; longitude = -136.057269; duration = 401; initialDepth = 82.143241; finalDepth = 81.710643; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 81.710643 # Seafloor depth: -131.710643 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.405541 meters # Minimum depth: 132.143241 meters looking forward 100.000000 meters along route # Maximum depth: 132.331554 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 82.143241 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.578444; longitude = -136.055087; duration = 401; initialDepth = 82.043723; finalDepth = 82.143241; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.13523 # Actual altitude: 50.13523 # Commanded vehicle depth: 82.143241 # Seafloor depth: -132.278471 # 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 3 # Segment length 100.403815 meters # Minimum depth: 132.043723 meters looking forward 100.000000 meters along route # Maximum depth: 132.125288 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 82.043723 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.578976; longitude = -136.052905; duration = 401; initialDepth = 81.651195; finalDepth = 82.043723; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.13523 # Actual altitude: 50.13523 # Commanded vehicle depth: 82.043723 # Seafloor depth: -132.125288 # 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 3 # Segment length 100.402090 meters # Minimum depth: 131.651195 meters looking forward 100.000000 meters along route # Maximum depth: 131.989673 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 81.651195 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.579508; longitude = -136.050723; duration = 401; initialDepth = 81.570683; finalDepth = 81.651195; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.338478 # Actual altitude: 50.338478 # Commanded vehicle depth: 81.651195 # Seafloor depth: -131.989673 # 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 3 # Segment length 100.400364 meters # Minimum depth: 131.570683 meters looking forward 100.000000 meters along route # Maximum depth: 131.827734 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 81.570683 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.580041; longitude = -136.048540; duration = 401; initialDepth = 82.030498; finalDepth = 81.570683; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.338478 # Actual altitude: 50.338478 # Commanded vehicle depth: 81.570683 # Seafloor depth: -131.717386 # 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 3 # Segment length 100.398639 meters # Minimum depth: 132.030498 meters looking forward 100.000000 meters along route # Maximum depth: 133.907203 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 82.030498 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.580573; longitude = -136.046358; duration = 401; initialDepth = 84.073941; finalDepth = 82.030498; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.146703 # Actual altitude: 50.146703 # Commanded vehicle depth: 82.030498 # Seafloor depth: -132.030498 # 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 3 # Segment length 100.396914 meters # Minimum depth: 134.073941 meters looking forward 100.000000 meters along route # Maximum depth: 134.275097 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 84.073941 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.581105; longitude = -136.044176; duration = 401; initialDepth = 84.239466; finalDepth = 84.073941; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.065234 # Actual altitude: 50.065234 # Commanded vehicle depth: 84.073941 # Seafloor depth: -134.139175 # 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 3 # Segment length 100.150706 meters # Minimum depth: 134.239466 meters looking forward 100.000000 meters along route # Maximum depth: 134.547023 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 84.239466 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.581637; longitude = -136.041994; duration = 400; initialDepth = 79.575397; finalDepth = 84.239466; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.065234 # Actual altitude: 50.065234 # Commanded vehicle depth: 84.239466 # Seafloor depth: -134.239466 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 180.823122 meters # Minimum depth: 129.575397 meters looking forward 100.000000 meters along route # Maximum depth: 135.049400 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 79.575397 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.582168; longitude = -136.039817; duration = 723; # abortOnTimeout = True; initialDepth = 76.730005; finalDepth = 79.575397; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.474003 # Actual altitude: 55.474003 # Commanded vehicle depth: 79.575397 # Seafloor depth: -135.049400 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 108.284709 meters # Minimum depth: 126.730005 meters looking forward 100.000000 meters along route # Maximum depth: 129.724855 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 76.730005 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.580826; longitude = -136.037084; duration = 433; initialDepth = 73.718917; finalDepth = 76.730005; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.474003 # Actual altitude: 55.474003 # Commanded vehicle depth: 76.730005 # Seafloor depth: -129.724855 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 108.286052 meters # Minimum depth: 123.718917 meters looking forward 100.000000 meters along route # Maximum depth: 125.761643 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 73.718917 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.580022; longitude = -136.035447; duration = 433; initialDepth = 71.114170; finalDepth = 73.718917; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.99485 # Actual altitude: 52.99485 # Commanded vehicle depth: 73.718917 # Seafloor depth: -125.761643 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 108.287393 meters # Minimum depth: 121.114170 meters looking forward 100.000000 meters along route # Maximum depth: 124.337447 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 71.114170 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.579218; longitude = -136.033811; duration = 433; initialDepth = 69.887719; finalDepth = 71.114170; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.223277 # Actual altitude: 53.223277 # Commanded vehicle depth: 71.11417 # Seafloor depth: -124.337447 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 108.288735 meters # Minimum depth: 119.887719 meters looking forward 100.000000 meters along route # Maximum depth: 123.151172 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 69.887719 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.578414; longitude = -136.032174; duration = 433; initialDepth = 67.687740; finalDepth = 69.887719; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.223277 # Actual altitude: 53.223277 # Commanded vehicle depth: 69.887719 # Seafloor depth: -121.301479 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 108.290078 meters # Minimum depth: 117.687740 meters looking forward 100.000000 meters along route # Maximum depth: 119.027997 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 67.687740 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.577610; longitude = -136.030537; duration = 433; initialDepth = 64.412819; finalDepth = 67.687740; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.41376 # Actual altitude: 51.41376 # Commanded vehicle depth: 67.68774 # Seafloor depth: -119.027997 # 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 2 # Segment length 108.291420 meters # Minimum depth: 114.412819 meters looking forward 100.000000 meters along route # Maximum depth: 116.912831 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.412819 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.576806; longitude = -136.028901; duration = 433; initialDepth = 61.180504; finalDepth = 64.412819; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.500012 # Actual altitude: 52.500012 # Commanded vehicle depth: 64.412819 # Seafloor depth: -116.912831 # 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 2 # Segment length 108.292761 meters # Minimum depth: 111.180504 meters looking forward 100.000000 meters along route # Maximum depth: 112.813636 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.180504 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.576003; longitude = -136.027264; duration = 433; initialDepth = 56.549680; finalDepth = 61.180504; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.500012 # Actual altitude: 52.500012 # Commanded vehicle depth: 61.180504 # Seafloor depth: -112.813636 # 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 2 # Segment length 115.693846 meters # Minimum depth: 106.549680 meters looking forward 100.000000 meters along route # Maximum depth: 111.050441 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.549680 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.575199; longitude = -136.025627; duration = 462; initialDepth = 56.669163; finalDepth = 56.549680; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.500761 # Actual altitude: 54.500761 # Commanded vehicle depth: 56.54968 # Seafloor depth: -111.050441 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 91.045796 meters # Minimum depth: 106.669163 meters looking forward 100.000000 meters along route # Maximum depth: 108.390248 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.669163 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.574340; longitude = -136.023879; duration = 364; # abortOnTimeout = True; initialDepth = 58.485636; finalDepth = 56.669163; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.500761 # Actual altitude: 54.500761 # Commanded vehicle depth: 56.669163 # Seafloor depth: -107.018314 # 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 110.584181 meters # Minimum depth: 108.485636 meters looking forward 100.000000 meters along route # Maximum depth: 110.115487 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.485636 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.573878; longitude = -136.025900; duration = 442; initialDepth = 60.191427; finalDepth = 58.485636; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.349151 # Actual altitude: 50.349151 # Commanded vehicle depth: 58.485636 # Seafloor depth: -108.485636 # 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 1 # Segment length 100.634629 meters # Minimum depth: 110.191427 meters looking forward 100.000000 meters along route # Maximum depth: 110.591271 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.191427 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.573316; longitude = -136.028355; duration = 402; initialDepth = 60.615860; finalDepth = 60.191427; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 60.191427 # Seafloor depth: -110.191427 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 108.252314 meters # Minimum depth: 110.615860 meters looking forward 100.000000 meters along route # Maximum depth: 112.500061 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.615860 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.572805; longitude = -136.030589; duration = 433; initialDepth = 62.496086; finalDepth = 60.615860; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 60.61586 # Seafloor depth: -110.615860 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 110.590229 meters # Minimum depth: 112.496086 meters looking forward 100.000000 meters along route # Maximum depth: 112.972490 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.496086 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.572255; longitude = -136.032992; duration = 442; initialDepth = 61.902579; finalDepth = 62.496086; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.014388 # Actual altitude: 50.014388 # Commanded vehicle depth: 62.496086 # Seafloor depth: -112.510474 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 110.592323 meters # Minimum depth: 111.902579 meters looking forward 100.000000 meters along route # Maximum depth: 113.667522 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.902579 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.571693; longitude = -136.035447; duration = 442; initialDepth = 56.793665; finalDepth = 61.902579; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.629431 # Actual altitude: 50.629431 # Commanded vehicle depth: 61.902579 # Seafloor depth: -112.532010 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.219942 meters # Minimum depth: 106.793665 meters looking forward 100.000000 meters along route # Maximum depth: 111.114535 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.793665 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.571132; longitude = -136.037902; duration = 400; initialDepth = 59.504561; finalDepth = 56.793665; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.32087 # Actual altitude: 54.32087 # Commanded vehicle depth: 56.793665 # Seafloor depth: -111.114535 # 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 1 # Segment length 108.682378 meters # Minimum depth: 109.504561 meters looking forward 100.000000 meters along route # Maximum depth: 116.879351 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.504561 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.570623; longitude = -136.040127; duration = 434; initialDepth = 65.263161; finalDepth = 59.504561; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.32087 # Actual altitude: 54.32087 # Commanded vehicle depth: 59.504561 # Seafloor depth: -109.504561 # 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 1 # Segment length 110.598370 meters # Minimum depth: 115.263161 meters looking forward 100.000000 meters along route # Maximum depth: 117.621962 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.263161 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.570071; longitude = -136.042539; duration = 442; initialDepth = 63.750025; finalDepth = 65.263161; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.593614 # Actual altitude: 51.593614 # Commanded vehicle depth: 65.263161 # Seafloor depth: -116.856775 # 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 1 # Segment length 102.981094 meters # Minimum depth: 113.750025 meters looking forward 100.000000 meters along route # Maximum depth: 116.708590 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.750025 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.569509; longitude = -136.044994; duration = 411; initialDepth = 64.172045; finalDepth = 63.750025; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.958565 # Actual altitude: 52.958565 # Commanded vehicle depth: 63.750025 # Seafloor depth: -116.708590 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.424564 meters # Minimum depth: 114.172045 meters looking forward 100.000000 meters along route # Maximum depth: 115.816861 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.172045 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.568986; longitude = -136.047280; duration = 429; initialDepth = 55.953810; finalDepth = 64.172045; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.958565 # Actual altitude: 52.958565 # Commanded vehicle depth: 64.172045 # Seafloor depth: -115.816861 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 109.112505 meters # Minimum depth: 105.953810 meters looking forward 100.000000 meters along route # Maximum depth: 116.481441 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.953810 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.568440; longitude = -136.049665; duration = 436; initialDepth = 55.707868; finalDepth = 55.953810; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.561093 # Actual altitude: 58.561093 # Commanded vehicle depth: 55.95381 # Seafloor depth: -114.514903 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 110.606511 meters # Minimum depth: 105.707868 meters looking forward 100.000000 meters along route # Maximum depth: 112.184914 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.707868 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.567886; longitude = -136.052086; duration = 442; initialDepth = 60.307095; finalDepth = 55.707868; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.561093 # Actual altitude: 58.561093 # Commanded vehicle depth: 55.707868 # Seafloor depth: -105.707868 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.566526 meters # Minimum depth: 110.307095 meters looking forward 100.000000 meters along route # Maximum depth: 111.249843 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.307095 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.567325; longitude = -136.054541; duration = 410; initialDepth = 60.820604; finalDepth = 60.307095; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.942748 # Actual altitude: 50.942748 # Commanded vehicle depth: 60.307095 # Seafloor depth: -111.249843 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.432465 meters # Minimum depth: 110.820604 meters looking forward 100.000000 meters along route # Maximum depth: 116.124452 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.820604 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.566804; longitude = -136.056818; duration = 429; initialDepth = 62.113553; finalDepth = 60.820604; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.942748 # Actual altitude: 50.942748 # Commanded vehicle depth: 60.820604 # Seafloor depth: -110.820604 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 109.542693 meters # Minimum depth: 112.113553 meters looking forward 100.000000 meters along route # Maximum depth: 120.919447 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.113553 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.566258; longitude = -136.059202; duration = 438; initialDepth = 54.850871; finalDepth = 62.113553; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.149871 # Actual altitude: 54.149871 # Commanded vehicle depth: 62.113553 # Seafloor depth: -116.263424 # 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 1 # Segment length 110.614654 meters # Minimum depth: 104.850871 meters looking forward 100.000000 meters along route # Maximum depth: 111.488220 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.850871 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.565702; longitude = -136.061634; duration = 442; initialDepth = 61.615474; finalDepth = 54.850871; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.636917 # Actual altitude: 56.636917 # Commanded vehicle depth: 54.850871 # Seafloor depth: -111.487788 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.151897 meters # Minimum depth: 111.615474 meters looking forward 100.000000 meters along route # Maximum depth: 112.865587 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.615474 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.565140; longitude = -136.064089; duration = 408; initialDepth = 61.299431; finalDepth = 61.615474; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.636917 # Actual altitude: 56.636917 # Commanded vehicle depth: 61.615474 # Seafloor depth: -111.615474 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.440365 meters # Minimum depth: 111.299431 meters looking forward 100.000000 meters along route # Maximum depth: 112.979581 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.299431 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.564622; longitude = -136.066356; duration = 429; initialDepth = 61.002557; finalDepth = 61.299431; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.608564 # Actual altitude: 51.608564 # Commanded vehicle depth: 61.299431 # Seafloor depth: -112.907995 # 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 1 # Segment length 109.972945 meters # Minimum depth: 111.002557 meters looking forward 100.000000 meters along route # Maximum depth: 111.295260 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.002557 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.564076; longitude = -136.068740; duration = 439; initialDepth = 60.950113; finalDepth = 61.002557; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.608564 # Actual altitude: 51.608564 # Commanded vehicle depth: 61.002557 # Seafloor depth: -111.295260 # 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 1 # Segment length 104.693509 meters # Minimum depth: 110.950113 meters looking forward 100.000000 meters along route # Maximum depth: 111.245419 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.950113 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 70.563518; longitude = -136.071181; duration = 418; initialDepth = 60.950113; finalDepth = 60.950113; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.292703 # Actual altitude: 50.292703 # Commanded vehicle depth: 60.950113 # Seafloor depth: -110.971445 # 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; } # ####################################################### # # 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: 50.615809 # Sonar parameter altitude: 50.615809 # Commanded vehicle depth: 60.950113 # Seafloor depth: -111.565922 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; SBP_Duration = 300.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 200.00; MB_Power = 218; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 33; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000033; MB_Bottom_Detect_Filter_Min_Range = 30.37; 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: 110.950113 meters looking forward 100.000000 meters along route # Maximum depth: 111.565922 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 282.437936 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.950113 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint { latitude = 70.562986; longitude = -136.073504; duration = 600; depth = 60.950113; speed = 1.500000; } ####################################################### # Acoustic update 6 - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 180.0; pitch = -35.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 180.0; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 300.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 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; } # ####################################################### ####################################################### ####################################################### #######################################################