# 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: # r # # Mission Summary: # Route File: 2018PB_1v7.rte # Mission File: 2018PB_1v7.cfg # Distance: 83268.846103 (m) # Estimated Time: 60096 (s) 16.693 (hr) # Abort Time: 74599 (s) # Max battery life: 79200 (s) # Safety margin: 900 (s) # Ascend time: 5550 (s) # Way Points: 58 # Route Points: 774 # Survey Behaviors: # Behavior for waypoint mode 0: WaypointDepth # Behavior for waypoint mode 1: WaypointDepth # Behavior for waypoint mode 2: WaypointDepth # Behavior for waypoint mode 3: WaypointDepth # Behavior for waypoint mode 4: WaypointDepth # Descent style: Spiral descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 36 dB # Multibeam transmit gain: 218 dB # Multibeam pulse width: 6e-05 usec # Multibeam minimum range fraction: 0.3 # Multibeam maximum range fraction: 4.0 # 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: 15 (m) # Delta Depth Restart 1: 35 (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: 3765.807941 (m) # Abort Vehicle Depth: 3790.807941 (m) # Descent Vehicle Depth: 3 (m) # Spiral descent depth: 3596.195496 m # Spiral descent altitude: 50 m # Forward Looking Distance: 100 (m) # Waypoint Spacing: 100 (m) # Maximum climb rate: 15 (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 -108.863134 23.953834 -3656.195496 0.000000 3 # 1 -108.864437 23.952918 -3649.878784 167.014782 3 # 2 -108.883664 23.959088 -3456.030029 2240.311727 3 # 3 -108.883959 23.960713 -3453.629272 2422.811843 3 # 4 -108.863946 23.954273 -3652.860779 4581.492995 3 # 5 -108.863356 23.955537 -3659.835083 4733.855678 3 # 6 -108.884155 23.962248 -3455.577087 6977.959012 3 # 7 -108.884450 23.963783 -3458.331787 7150.632813 3 # 8 -108.862739 23.956722 -3673.158691 9495.167141 3 # 9 -108.862254 23.958001 -3689.989746 9645.208984 3 # 10 -108.884777 23.965198 -3464.427490 12072.710523 3 # 11 -108.884974 23.966732 -3461.186218 12243.821325 3 # 12 -108.861770 23.959279 -3702.115845 14746.096320 3 # 13 -108.861285 23.960558 -3712.591064 14896.137963 3 # 14 -108.885171 23.968267 -3457.663574 17473.287137 3 # 15 -108.885171 23.969712 -3458.216858 17633.359641 3 # 16 -108.860800 23.961837 -3715.231506 20263.160868 3 # 17 -108.860316 23.963116 -3715.066711 20413.168843 3 # 18 -108.885072 23.971066 -3457.908386 23082.680008 3 # 19 -108.885171 23.972420 -3456.947815 23233.010024 3 # 20 -108.859831 23.964394 -3714.386047 25961.419657 3 # 21 -108.859347 23.965673 -3713.436768 26111.427434 3 # 22 -108.885040 23.973805 -3456.026306 28877.610823 3 # 23 -108.885072 23.975310 -3459.867615 29044.361876 3 # 24 -108.858862 23.966952 -3715.847473 31868.437775 3 # 25 -108.858377 23.968231 -3711.263916 32018.478819 3 # 26 -108.891918 23.978861 -3397.475525 35630.007695 3 # 27 -108.891361 23.980185 -3409.956970 35787.252072 3 # 28 -108.857893 23.969509 -3712.008850 39393.393829 3 # 29 -108.857408 23.970788 -3722.499329 39543.434672 3 # 30 -108.884594 23.979486 -3464.782532 42473.639795 3 # 31 -108.884109 23.980764 -3463.894897 42623.572761 3 # 32 -108.856923 23.972067 -3723.180725 45553.716462 3 # 33 -108.856439 23.973345 -3741.820679 45703.619014 3 # 34 -108.883566 23.981931 -3473.699829 48624.040152 3 # 35 -108.883107 23.983165 -3478.618469 48768.501970 3 # 36 -108.856150 23.974617 -3751.129700 51671.167644 3 # 37 -108.855659 23.975972 -3767.480896 51829.374614 3 # 38 -108.882485 23.984459 -3483.331970 54717.206465 3 # 39 -108.881928 23.985873 -3483.183838 54883.789060 3 # 40 -108.855364 23.977326 -3777.002869 57748.582344 3 # 41 -108.854906 23.978560 -3780.565796 57893.013961 3 # 42 -108.881338 23.987047 -3484.795715 60742.907751 3 # 43 -108.880847 23.988311 -3486.174500 60891.580768 3 # 44 -108.854513 23.979914 -3780.034424 63728.750801 3 # 45 -108.854021 23.981178 -3783.844604 63877.461052 3 # 46 -108.880323 23.989515 -3488.701599 66709.356350 3 # 47 -108.879733 23.990869 -3492.128601 66870.922488 3 # 48 -108.853497 23.982292 -3790.397339 69705.246737 3 # 49 -108.853039 23.983616 -3791.769836 69859.148142 3 # 50 -108.879177 23.992193 -3498.634399 72684.052188 3 # 51 -108.878751 23.993487 -3504.715759 72833.811559 3 # 52 -108.852744 23.984970 -3787.593262 75643.899309 3 # 53 -108.852253 23.986234 -3787.329651 75792.574882 3 # 54 -108.878194 23.994631 -3508.967285 78591.868355 3 # 55 -108.859590 23.976604 -3724.094076 81343.916429 1 # 56 -108.861653 23.970825 -3680.025391 82017.616557 1 # 57 -108.862144 23.959540 -3700.338542 83268.846103 4 # # A total of 774 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 74599; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 3765.807941; abortDepth = 3790.807941; minAltitude = 50.000000; abortAltitude = 15.000000; deltaDepthRestart = 35.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 5550; 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 57 # Segment length 143.474226 meters # Minimum depth: 3700.338542 meters looking forward 100.000000 meters along route # Maximum depth: 3708.832617 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3650.338542 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.959540; longitude = -108.862144; duration = 573; # abortOnTimeout = True; initialDepth = 3657.335596; finalDepth = 3650.338542; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3650.338542 # Seafloor depth: -3700.338542 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 100.098312 meters # Minimum depth: 3707.335596 meters looking forward 100.000000 meters along route # Maximum depth: 3709.056602 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3657.335596 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.960834; longitude = -108.862088; duration = 400; initialDepth = 3657.404111; finalDepth = 3657.335596; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7110929999999 # Actual altitude: 51.7110929999999 # Commanded vehicle depth: 3657.335596 # Seafloor depth: -3709.046689 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 100.098324 meters # Minimum depth: 3707.404111 meters looking forward 100.000000 meters along route # Maximum depth: 3709.583496 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3657.404111 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.961737; longitude = -108.862049; duration = 400; initialDepth = 3659.766504; finalDepth = 3657.404111; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7110929999999 # Actual altitude: 51.7110929999999 # Commanded vehicle depth: 3657.404111 # Seafloor depth: -3707.404111 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 100.098336 meters # Minimum depth: 3709.766504 meters looking forward 100.000000 meters along route # Maximum depth: 3710.473486 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3659.766504 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.962639; longitude = -108.862009; duration = 400; initialDepth = 3660.492285; finalDepth = 3659.766504; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3659.766504 # Seafloor depth: -3709.766504 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 100.098348 meters # Minimum depth: 3710.492285 meters looking forward 100.000000 meters along route # Maximum depth: 3711.711279 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3660.492285 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.963542; longitude = -108.861970; duration = 400; initialDepth = 3660.149316; finalDepth = 3660.492285; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3660.492285 # Seafloor depth: -3710.492285 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 100.098360 meters # Minimum depth: 3710.149316 meters looking forward 100.000000 meters along route # Maximum depth: 3712.211982 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3660.149316 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.964445; longitude = -108.861931; duration = 400; initialDepth = 3657.668262; finalDepth = 3660.149316; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7961140000002 # Actual altitude: 51.7961140000002 # Commanded vehicle depth: 3660.149316 # Seafloor depth: -3711.945430 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 100.098372 meters # Minimum depth: 3707.668262 meters looking forward 100.000000 meters along route # Maximum depth: 3709.671133 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3657.668262 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.965348; longitude = -108.861891; duration = 400; initialDepth = 3653.981445; finalDepth = 3657.668262; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0028709999997 # Actual altitude: 52.0028709999997 # Commanded vehicle depth: 3657.668262 # Seafloor depth: -3709.671133 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 100.098384 meters # Minimum depth: 3703.981445 meters looking forward 100.000000 meters along route # Maximum depth: 3707.451377 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3653.981445 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.966251; longitude = -108.861852; duration = 400; initialDepth = 3650.817822; finalDepth = 3653.981445; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.469932 # Actual altitude: 53.469932 # Commanded vehicle depth: 3653.981445 # Seafloor depth: -3707.451377 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 100.098396 meters # Minimum depth: 3700.817822 meters looking forward 100.000000 meters along route # Maximum depth: 3703.791729 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3650.817822 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.967154; longitude = -108.861813; duration = 400; initialDepth = 3647.547217; finalDepth = 3650.817822; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.469932 # Actual altitude: 53.469932 # Commanded vehicle depth: 3650.817822 # Seafloor depth: -3703.791729 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 100.098407 meters # Minimum depth: 3697.547217 meters looking forward 100.000000 meters along route # Maximum depth: 3700.381914 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3647.547217 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.968057; longitude = -108.861774; duration = 400; initialDepth = 3639.586230; finalDepth = 3647.547217; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9739070000001 # Actual altitude: 52.9739070000001 # Commanded vehicle depth: 3647.547217 # Seafloor depth: -3700.381914 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 100.098420 meters # Minimum depth: 3689.586230 meters looking forward 100.000000 meters along route # Maximum depth: 3696.850391 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3639.586230 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.968959; longitude = -108.861734; duration = 400; initialDepth = 3630.686816; finalDepth = 3639.586230; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.2641610000001 # Actual altitude: 57.2641610000001 # Commanded vehicle depth: 3639.58623 # Seafloor depth: -3696.850391 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 106.771661 meters # Minimum depth: 3680.686816 meters looking forward 100.000000 meters along route # Maximum depth: 3688.832695 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3630.686816 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.969862; longitude = -108.861695; duration = 427; initialDepth = 3629.195719; finalDepth = 3630.686816; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 58.1458790000001 # Actual altitude: 58.1458790000001 # Commanded vehicle depth: 3630.686816 # Seafloor depth: -3688.832695 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 56 # Segment length 150.880909 meters # Minimum depth: 3679.195719 meters looking forward 100.000000 meters along route # Maximum depth: 3684.501170 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3629.195719 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.970825; longitude = -108.861653; duration = 603; # abortOnTimeout = True; initialDepth = 3635.110128; finalDepth = 3629.195719; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.1458790000001 # Actual altitude: 58.1458790000001 # Commanded vehicle depth: 3629.195719 # Seafloor depth: -3680.025391 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 105.265698 meters # Minimum depth: 3685.110128 meters looking forward 100.000000 meters along route # Maximum depth: 3690.176946 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3635.110128 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.972120; longitude = -108.861191; duration = 421; initialDepth = 3640.620420; finalDepth = 3635.110128; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8296720000003 # Actual altitude: 50.8296720000003 # Commanded vehicle depth: 3635.110128 # Seafloor depth: -3685.110128 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 107.437805 meters # Minimum depth: 3690.620420 meters looking forward 100.000000 meters along route # Maximum depth: 3691.730438 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3640.620420 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.973022; longitude = -108.860868; duration = 429; initialDepth = 3638.304368; finalDepth = 3640.620420; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3640.62042 # Seafloor depth: -3690.620420 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 103.093466 meters # Minimum depth: 3688.304368 meters looking forward 100.000000 meters along route # Maximum depth: 3690.810047 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3638.304368 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.973944; longitude = -108.860539; duration = 412; initialDepth = 3638.875149; finalDepth = 3638.304368; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5056789999999 # Actual altitude: 52.5056789999999 # Commanded vehicle depth: 3638.304368 # Seafloor depth: -3690.810047 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 105.265571 meters # Minimum depth: 3688.875149 meters looking forward 100.000000 meters along route # Maximum depth: 3705.835693 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3638.875149 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.974828; longitude = -108.860224; duration = 421; initialDepth = 3658.475741; finalDepth = 3638.875149; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5056789999999 # Actual altitude: 52.5056789999999 # Commanded vehicle depth: 3638.875149 # Seafloor depth: -3688.875149 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 101.756679 meters # Minimum depth: 3708.475741 meters looking forward 100.000000 meters along route # Maximum depth: 3723.472056 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3658.475741 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.975731; longitude = -108.859901; duration = 407; initialDepth = 3673.809326; finalDepth = 3658.475741; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3658.475741 # Seafloor depth: -3708.475741 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 55 # Segment length 96.906086 meters # Minimum depth: 3723.809326 meters looking forward 100.000000 meters along route # Maximum depth: 3724.948782 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3673.809326 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.976604; longitude = -108.859590; duration = 387; # abortOnTimeout = True; initialDepth = 3675.207891; finalDepth = 3673.809326; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2847499999998 # Actual altitude: 50.2847499999998 # Commanded vehicle depth: 3673.809326 # Seafloor depth: -3724.094076 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 101.751115 meters # Minimum depth: 3725.207891 meters looking forward 100.000000 meters along route # Maximum depth: 3728.275591 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3675.207891 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.977239; longitude = -108.860245; duration = 407; initialDepth = 3678.315793; finalDepth = 3675.207891; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2847499999998 # Actual altitude: 50.2847499999998 # Commanded vehicle depth: 3675.207891 # Seafloor depth: -3725.207891 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 101.750832 meters # Minimum depth: 3728.315793 meters looking forward 100.000000 meters along route # Maximum depth: 3730.968613 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3678.315793 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.977905; longitude = -108.860932; duration = 407; initialDepth = 3681.190346; finalDepth = 3678.315793; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3678.315793 # Seafloor depth: -3728.315793 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 101.750551 meters # Minimum depth: 3731.190346 meters looking forward 100.000000 meters along route # Maximum depth: 3732.383767 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3681.190346 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.978572; longitude = -108.861620; duration = 407; initialDepth = 3681.672842; finalDepth = 3681.190346; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3681.190346 # Seafloor depth: -3731.190346 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 101.750269 meters # Minimum depth: 3731.672842 meters looking forward 100.000000 meters along route # Maximum depth: 3733.220243 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3681.672842 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.979238; longitude = -108.862308; duration = 407; initialDepth = 3683.351238; finalDepth = 3681.672842; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1285830000002 # Actual altitude: 50.1285830000002 # Commanded vehicle depth: 3681.672842 # Seafloor depth: -3731.801425 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 101.749986 meters # Minimum depth: 3733.351238 meters looking forward 100.000000 meters along route # Maximum depth: 3734.266107 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3683.351238 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.979905; longitude = -108.862996; duration = 406; initialDepth = 3680.835654; finalDepth = 3683.351238; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1285830000002 # Actual altitude: 50.1285830000002 # Commanded vehicle depth: 3683.351238 # Seafloor depth: -3733.351238 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 101.903134 meters # Minimum depth: 3730.835654 meters looking forward 100.000000 meters along route # Maximum depth: 3733.620379 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3680.835654 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.980571; longitude = -108.863684; duration = 407; initialDepth = 3675.362245; finalDepth = 3680.835654; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.784725 # Actual altitude: 52.784725 # Commanded vehicle depth: 3680.835654 # Seafloor depth: -3733.620379 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 101.595993 meters # Minimum depth: 3725.362245 meters looking forward 100.000000 meters along route # Maximum depth: 3730.829611 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3675.362245 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.981239; longitude = -108.864373; duration = 406; initialDepth = 3659.321491; finalDepth = 3675.362245; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.4673660000003 # Actual altitude: 55.4673660000003 # Commanded vehicle depth: 3675.362245 # Seafloor depth: -3730.829611 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 101.749140 meters # Minimum depth: 3709.321491 meters looking forward 100.000000 meters along route # Maximum depth: 3724.964280 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3659.321491 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.981904; longitude = -108.865059; duration = 406; initialDepth = 3630.135052; finalDepth = 3659.321491; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.642789 # Actual altitude: 65.642789 # Commanded vehicle depth: 3659.321491 # Seafloor depth: -3724.964280 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 19.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 101.748858 meters # Minimum depth: 3680.135052 meters looking forward 100.000000 meters along route # Maximum depth: 3706.450659 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3630.135052 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.982571; longitude = -108.865747; duration = 406; initialDepth = 3628.437679; finalDepth = 3630.135052; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.315607 # Actual altitude: 76.315607 # Commanded vehicle depth: 3630.135052 # Seafloor depth: -3706.450659 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 101.748576 meters # Minimum depth: 3678.437679 meters looking forward 100.000000 meters along route # Maximum depth: 3687.899950 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3628.437679 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.983237; longitude = -108.866435; duration = 406; initialDepth = 3639.206783; finalDepth = 3628.437679; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.315607 # Actual altitude: 76.315607 # Commanded vehicle depth: 3628.437679 # Seafloor depth: -3679.880635 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 103.144941 meters # Minimum depth: 3689.206783 meters looking forward 100.000000 meters along route # Maximum depth: 3696.519421 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3639.206783 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.983903; longitude = -108.867123; duration = 412; initialDepth = 3600.568913; finalDepth = 3639.206783; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4429559999999 # Actual altitude: 51.4429559999999 # Commanded vehicle depth: 3639.206783 # Seafloor depth: -3689.206783 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 100.351365 meters # Minimum depth: 3650.568913 meters looking forward 100.000000 meters along route # Maximum depth: 3694.484832 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3600.568913 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.984579; longitude = -108.867820; duration = 401; initialDepth = 3537.823777; finalDepth = 3600.568913; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 93.915919 # Actual altitude: 93.915919 # Commanded vehicle depth: 3600.568913 # Seafloor depth: -3694.484832 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 101.747730 meters # Minimum depth: 3587.823777 meters looking forward 100.000000 meters along route # Maximum depth: 3647.938196 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3537.823777 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.985236; longitude = -108.868499; duration = 406; initialDepth = 3502.737593; finalDepth = 3537.823777; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 110.114419 # Actual altitude: 100 # Commanded vehicle depth: 3537.823777 # Seafloor depth: -3647.938196 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 101.747448 meters # Minimum depth: 3552.737593 meters looking forward 100.000000 meters along route # Maximum depth: 3582.519866 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3502.737593 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.985903; longitude = -108.869187; duration = 406; initialDepth = 3498.913769; finalDepth = 3502.737593; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 110.114419 # Actual altitude: 100 # Commanded vehicle depth: 3502.737593 # Seafloor depth: -3582.519866 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 101.747166 meters # Minimum depth: 3548.913769 meters looking forward 100.000000 meters along route # Maximum depth: 3552.684691 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3498.913769 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.986569; longitude = -108.869874; duration = 406; initialDepth = 3494.585921; finalDepth = 3498.913769; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.7822730000003 # Actual altitude: 79.7822730000003 # Commanded vehicle depth: 3498.913769 # Seafloor depth: -3552.684691 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 101.746884 meters # Minimum depth: 3544.585921 meters looking forward 100.000000 meters along route # Maximum depth: 3548.852487 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3494.585921 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.987236; longitude = -108.870562; duration = 406; initialDepth = 3484.758184; finalDepth = 3494.585921; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.2665660000002 # Actual altitude: 54.2665660000002 # Commanded vehicle depth: 3494.585921 # Seafloor depth: -3548.852487 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 101.746602 meters # Minimum depth: 3534.758184 meters looking forward 100.000000 meters along route # Maximum depth: 3543.759265 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3484.758184 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.987902; longitude = -108.871250; duration = 406; initialDepth = 3475.510885; finalDepth = 3484.758184; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.0010810000003 # Actual altitude: 59.0010810000003 # Commanded vehicle depth: 3484.758184 # Seafloor depth: -3543.759265 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 101.746320 meters # Minimum depth: 3525.510885 meters looking forward 100.000000 meters along route # Maximum depth: 3534.470647 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3475.510885 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.988569; longitude = -108.871938; duration = 406; initialDepth = 3470.115296; finalDepth = 3475.510885; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.0010810000003 # Actual altitude: 59.0010810000003 # Commanded vehicle depth: 3475.510885 # Seafloor depth: -3534.470647 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 102.375152 meters # Minimum depth: 3520.115296 meters looking forward 100.000000 meters along route # Maximum depth: 3525.131284 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3470.115296 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.989235; longitude = -108.872626; duration = 409; initialDepth = 3463.620586; finalDepth = 3470.115296; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.959762 # Actual altitude: 58.959762 # Commanded vehicle depth: 3470.115296 # Seafloor depth: -3525.131284 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 101.116642 meters # Minimum depth: 3513.620586 meters looking forward 100.000000 meters along route # Maximum depth: 3520.060569 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3463.620586 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.989906; longitude = -108.873318; duration = 404; initialDepth = 3462.293315; finalDepth = 3463.620586; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.4399830000002 # Actual altitude: 56.4399830000002 # Commanded vehicle depth: 3463.620586 # Seafloor depth: -3520.060569 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 101.745474 meters # Minimum depth: 3512.293315 meters looking forward 100.000000 meters along route # Maximum depth: 3513.536908 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3462.293315 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.990568; longitude = -108.874001; duration = 406; initialDepth = 3462.104147; finalDepth = 3462.293315; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.4399830000002 # Actual altitude: 56.4399830000002 # Commanded vehicle depth: 3462.293315 # Seafloor depth: -3513.536908 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 101.745192 meters # Minimum depth: 3512.104147 meters looking forward 100.000000 meters along route # Maximum depth: 3512.784308 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3462.104147 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.991235; longitude = -108.874689; duration = 406; initialDepth = 3459.963437; finalDepth = 3462.104147; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2435930000001 # Actual altitude: 51.2435930000001 # Commanded vehicle depth: 3462.104147 # Seafloor depth: -3512.145682 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 101.744910 meters # Minimum depth: 3509.963437 meters looking forward 100.000000 meters along route # Maximum depth: 3512.327992 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3459.963437 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.991901; longitude = -108.875377; duration = 406; initialDepth = 3457.526428; finalDepth = 3459.963437; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3645550000001 # Actual altitude: 52.3645550000001 # Commanded vehicle depth: 3459.963437 # Seafloor depth: -3512.327992 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 103.616909 meters # Minimum depth: 3507.526428 meters looking forward 100.000000 meters along route # Maximum depth: 3509.799925 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3457.526428 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.992568; longitude = -108.876065; duration = 414; initialDepth = 3457.583923; finalDepth = 3457.526428; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3645550000001 # Actual altitude: 52.3645550000001 # Commanded vehicle depth: 3457.526428 # Seafloor depth: -3509.799925 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 110.262663 meters # Minimum depth: 3507.583923 meters looking forward 100.000000 meters along route # Maximum depth: 3510.954279 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3457.583923 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.993247; longitude = -108.876765; duration = 441; initialDepth = 3459.137773; finalDepth = 3457.583923; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2734969999997 # Actual altitude: 52.2734969999997 # Commanded vehicle depth: 3457.583923 # Seafloor depth: -3507.583923 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 101.058136 meters # Minimum depth: 3509.137773 meters looking forward 100.000000 meters along route # Maximum depth: 3511.035384 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3459.137773 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.993969; longitude = -108.877511; duration = 404; initialDepth = 3458.967285; finalDepth = 3459.137773; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.8954250000002 # Actual altitude: 51.8954250000002 # Commanded vehicle depth: 3459.137773 # Seafloor depth: -3511.033198 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 54 # Segment length 160.487497 meters # Minimum depth: 3508.967285 meters looking forward 100.000000 meters along route # Maximum depth: 3511.891343 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3458.967285 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.994631; longitude = -108.878194; duration = 641; # abortOnTimeout = True; initialDepth = 3460.828981; finalDepth = 3458.967285; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8954250000002 # Actual altitude: 51.8954250000002 # Commanded vehicle depth: 3458.967285 # Seafloor depth: -3508.967285 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 101.067940 meters # Minimum depth: 3510.828981 meters looking forward 100.000000 meters along route # Maximum depth: 3511.619270 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3460.828981 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.994150; longitude = -108.876707; duration = 404; initialDepth = 3461.965728; finalDepth = 3460.828981; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6707859999997 # Actual altitude: 50.6707859999997 # Commanded vehicle depth: 3460.828981 # Seafloor depth: -3511.499767 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 109.617849 meters # Minimum depth: 3511.965728 meters looking forward 100.000000 meters along route # Maximum depth: 3514.461042 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3461.965728 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.993846; longitude = -108.875770; duration = 438; initialDepth = 3464.497223; finalDepth = 3461.965728; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6707859999997 # Actual altitude: 50.6707859999997 # Commanded vehicle depth: 3461.965728 # Seafloor depth: -3511.965728 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 102.446676 meters # Minimum depth: 3514.497223 meters looking forward 100.000000 meters along route # Maximum depth: 3515.686231 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3464.497223 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.993518; longitude = -108.874754; duration = 409; initialDepth = 3465.775969; finalDepth = 3464.497223; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3464.497223 # Seafloor depth: -3514.497223 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 108.240250 meters # Minimum depth: 3515.775969 meters looking forward 100.000000 meters along route # Maximum depth: 3518.131449 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3465.775969 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.993210; longitude = -108.873805; duration = 432; initialDepth = 3468.238798; finalDepth = 3465.775969; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3465.775969 # Seafloor depth: -3515.775969 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 103.825428 meters # Minimum depth: 3518.238798 meters looking forward 100.000000 meters along route # Maximum depth: 3524.341757 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3468.238798 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.992886; longitude = -108.872802; duration = 415; initialDepth = 3475.226110; finalDepth = 3468.238798; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3468.238798 # Seafloor depth: -3518.238798 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 106.862637 meters # Minimum depth: 3525.226110 meters looking forward 100.000000 meters along route # Maximum depth: 3533.684430 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3475.226110 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.992574; longitude = -108.871840; duration = 427; initialDepth = 3483.723258; finalDepth = 3475.226110; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3475.22611 # Seafloor depth: -3525.226110 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 105.204194 meters # Minimum depth: 3533.723258 meters looking forward 100.000000 meters along route # Maximum depth: 3540.417919 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3483.723258 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.992254; longitude = -108.870849; duration = 420; initialDepth = 3491.904814; finalDepth = 3483.723258; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3483.723258 # Seafloor depth: -3533.723258 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 106.033848 meters # Minimum depth: 3541.904814 meters looking forward 100.000000 meters along route # Maximum depth: 3562.792704 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3491.904814 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.991938; longitude = -108.869874; duration = 424; initialDepth = 3512.894605; finalDepth = 3491.904814; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3491.904814 # Seafloor depth: -3541.904814 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 106.034136 meters # Minimum depth: 3562.894605 meters looking forward 100.000000 meters along route # Maximum depth: 3570.319958 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3512.894605 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.991620; longitude = -108.868892; duration = 424; initialDepth = 3518.668290; finalDepth = 3512.894605; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3512.894605 # Seafloor depth: -3562.894605 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 106.034425 meters # Minimum depth: 3568.668290 meters looking forward 100.000000 meters along route # Maximum depth: 3569.943729 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3518.668290 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.991302; longitude = -108.867909; duration = 424; initialDepth = 3519.772952; finalDepth = 3518.668290; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.275439 # Actual altitude: 51.275439 # Commanded vehicle depth: 3518.66829 # Seafloor depth: -3569.943729 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 106.034713 meters # Minimum depth: 3569.772952 meters looking forward 100.000000 meters along route # Maximum depth: 3610.084345 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3519.772952 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.990984; longitude = -108.866926; duration = 424; initialDepth = 3548.184867; finalDepth = 3519.772952; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.275439 # Actual altitude: 51.275439 # Commanded vehicle depth: 3519.772952 # Seafloor depth: -3569.772952 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 106.035002 meters # Minimum depth: 3622.991963 meters looking forward 100.000000 meters along route # Maximum depth: 3743.480603 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3548.184867 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.990666; longitude = -108.865944; duration = 424; initialDepth = 3576.596860; finalDepth = 3548.184867; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.8070957895134 # Actual altitude: 74.8070957895134 # Commanded vehicle depth: 3548.18486721049 # Seafloor depth: -3622.991963 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 106.035290 meters # Minimum depth: 3744.923278 meters looking forward 100.000000 meters along route # Maximum depth: 3751.899917 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3576.596860 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.990348; longitude = -108.864961; duration = 424; initialDepth = 3605.008930; finalDepth = 3576.596860; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 168.326418141711 # Actual altitude: 100 # Commanded vehicle depth: 3576.59685985829 # Seafloor depth: -3744.923278 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 101.352035 meters # Minimum depth: 3736.982847 meters looking forward 100.000000 meters along route # Maximum depth: 3747.827708 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3605.008930 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.990030; longitude = -108.863979; duration = 405; initialDepth = 3632.166125; finalDepth = 3605.008930; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 168.326418141711 # Actual altitude: 100 # Commanded vehicle depth: 3605.00892967546 # Seafloor depth: -3747.827708 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 100.115810 meters # Minimum depth: 3729.515686 meters looking forward 100.000000 meters along route # Maximum depth: 3736.284329 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3632.166125 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.989726; longitude = -108.863039; duration = 400; initialDepth = 3658.992075; finalDepth = 3632.166125; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 142.818778324543 # Actual altitude: 100 # Commanded vehicle depth: 3632.16612511984 # Seafloor depth: -3736.284329 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 110.577948 meters # Minimum depth: 3722.154804 meters looking forward 100.000000 meters along route # Maximum depth: 3728.870367 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3658.992075 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.989425; longitude = -108.862112; duration = 442; initialDepth = 3665.597177; finalDepth = 3658.992075; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 104.118203880162 # Actual altitude: 100 # Commanded vehicle depth: 3658.99207507973 # Seafloor depth: -3728.870367 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 101.494594 meters # Minimum depth: 3715.597177 meters looking forward 100.000000 meters along route # Maximum depth: 3721.848006 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3665.597177 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.989093; longitude = -108.861087; duration = 405; initialDepth = 3660.760509; finalDepth = 3665.597177; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.8782919202727 # Actual altitude: 69.8782919202727 # Commanded vehicle depth: 3665.597177 # Seafloor depth: -3721.848006 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 109.200303 meters # Minimum depth: 3710.760509 meters looking forward 100.000000 meters along route # Maximum depth: 3714.874029 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3660.760509 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.988789; longitude = -108.860146; duration = 436; initialDepth = 3660.835799; finalDepth = 3660.760509; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.2508290000001 # Actual altitude: 56.2508290000001 # Commanded vehicle depth: 3660.760509 # Seafloor depth: -3714.874029 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 102.873393 meters # Minimum depth: 3710.835799 meters looking forward 100.000000 meters along route # Maximum depth: 3719.854896 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3660.835799 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.988461; longitude = -108.859134; duration = 411; initialDepth = 3671.466010; finalDepth = 3660.835799; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1135199999999 # Actual altitude: 54.1135199999999 # Commanded vehicle depth: 3660.835799 # Seafloor depth: -3710.835799 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 107.822644 meters # Minimum depth: 3721.466010 meters looking forward 100.000000 meters along route # Maximum depth: 3731.052605 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3671.466010 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.988153; longitude = -108.858181; duration = 431; initialDepth = 3681.080798; finalDepth = 3671.466010; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3671.46601 # Seafloor depth: -3721.466010 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 104.252207 meters # Minimum depth: 3731.080798 meters looking forward 100.000000 meters along route # Maximum depth: 3733.138791 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3681.080798 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.987829; longitude = -108.857182; duration = 417; initialDepth = 3684.046688; finalDepth = 3681.080798; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3681.080798 # Seafloor depth: -3731.080798 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 106.444969 meters # Minimum depth: 3734.046688 meters looking forward 100.000000 meters along route # Maximum depth: 3754.321336 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3684.046688 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.987517; longitude = -108.856216; duration = 425; initialDepth = 3704.419706; finalDepth = 3684.046688; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3684.046688 # Seafloor depth: -3734.046688 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 105.631036 meters # Minimum depth: 3754.419706 meters looking forward 100.000000 meters along route # Maximum depth: 3770.057110 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3704.419706 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.987197; longitude = -108.855229; duration = 422; initialDepth = 3720.615617; finalDepth = 3704.419706; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3704.419706 # Seafloor depth: -3754.419706 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 106.038436 meters # Minimum depth: 3770.615617 meters looking forward 100.000000 meters along route # Maximum depth: 3773.605291 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3720.615617 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.986881; longitude = -108.854251; duration = 424; initialDepth = 3723.668240; finalDepth = 3720.615617; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3720.615617 # Seafloor depth: -3770.615617 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 109.530213 meters # Minimum depth: 3773.668240 meters looking forward 100.000000 meters along route # Maximum depth: 3786.633691 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3723.668240 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.986563; longitude = -108.853268; duration = 438; initialDepth = 3737.329651; finalDepth = 3723.668240; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3723.66824 # Seafloor depth: -3773.668240 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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 53 # Segment length 148.675573 meters # Minimum depth: 3787.329651 meters looking forward 100.000000 meters along route # Maximum depth: 3788.920619 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3737.329651 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.986234; longitude = -108.852253; duration = 594; # abortOnTimeout = True; initialDepth = 3725.126842; finalDepth = 3737.329651; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3737.329651 # Seafloor depth: -3787.329651 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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 52 # Segment length 79.568140 meters # Minimum depth: 3775.126842 meters looking forward 100.000000 meters along route # Maximum depth: 3787.761554 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3725.126842 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.984970; longitude = -108.852744; duration = 318; # abortOnTimeout = True; initialDepth = 3720.121025; finalDepth = 3725.126842; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.4664199999997 # Actual altitude: 62.4664199999997 # Commanded vehicle depth: 3725.126842 # Seafloor depth: -3787.593262 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 18.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 104.463285 meters # Minimum depth: 3770.121025 meters looking forward 100.000000 meters along route # Maximum depth: 3774.941468 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3720.121025 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.985211; longitude = -108.853480; duration = 417; initialDepth = 3713.905726; finalDepth = 3720.121025; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.4664199999997 # Actual altitude: 62.4664199999997 # Commanded vehicle depth: 3720.121025 # Seafloor depth: -3774.941468 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 18.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 106.177017 meters # Minimum depth: 3763.905726 meters looking forward 100.000000 meters along route # Maximum depth: 3769.752743 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3713.905726 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.985528; longitude = -108.854447; duration = 424; initialDepth = 3708.288070; finalDepth = 3713.905726; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.8470170000001 # Actual altitude: 55.8470170000001 # Commanded vehicle depth: 3713.905726 # Seafloor depth: -3769.752743 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 106.176727 meters # Minimum depth: 3758.288070 meters looking forward 100.000000 meters along route # Maximum depth: 3763.757793 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3708.288070 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.985850; longitude = -108.855430; duration = 424; initialDepth = 3693.566565; finalDepth = 3708.288070; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.8470170000001 # Actual altitude: 55.8470170000001 # Commanded vehicle depth: 3708.28807 # Seafloor depth: -3763.757793 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 100.243743 meters # Minimum depth: 3743.566565 meters looking forward 100.000000 meters along route # Maximum depth: 3757.457013 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3693.566565 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.986171; longitude = -108.856412; duration = 400; initialDepth = 3677.388105; finalDepth = 3693.566565; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.8904480000001 # Actual altitude: 63.8904480000001 # Commanded vehicle depth: 3693.566565 # Seafloor depth: -3757.457013 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 19.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 101.491236 meters # Minimum depth: 3727.388105 meters looking forward 100.000000 meters along route # Maximum depth: 3742.727847 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3677.388105 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.986475; longitude = -108.857340; duration = 405; initialDepth = 3669.582004; finalDepth = 3677.388105; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.3397420000001 # Actual altitude: 65.3397420000001 # Commanded vehicle depth: 3677.388105 # Seafloor depth: -3742.727847 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 19.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 107.037466 meters # Minimum depth: 3719.582004 meters looking forward 100.000000 meters along route # Maximum depth: 3725.977345 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3669.582004 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.986783; longitude = -108.858279; duration = 428; initialDepth = 3669.585128; finalDepth = 3669.582004; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.3397420000001 # Actual altitude: 65.3397420000001 # Commanded vehicle depth: 3669.582004 # Seafloor depth: -3725.977345 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 19.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 105.314008 meters # Minimum depth: 3719.585128 meters looking forward 100.000000 meters along route # Maximum depth: 3720.033648 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3669.585128 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.987107; longitude = -108.859270; duration = 421; initialDepth = 3669.761924; finalDepth = 3669.585128; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.3953409999999 # Actual altitude: 56.3953409999999 # Commanded vehicle depth: 3669.585128 # Seafloor depth: -3719.585128 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 106.175300 meters # Minimum depth: 3719.761924 meters looking forward 100.000000 meters along route # Maximum depth: 3724.231625 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3669.761924 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.987426; longitude = -108.860245; duration = 424; initialDepth = 3674.393931; finalDepth = 3669.761924; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3669.761924 # Seafloor depth: -3719.761924 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 106.175009 meters # Minimum depth: 3724.393931 meters looking forward 100.000000 meters along route # Maximum depth: 3728.412570 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3674.393931 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.987748; longitude = -108.861227; duration = 424; initialDepth = 3679.117133; finalDepth = 3674.393931; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3674.393931 # Seafloor depth: -3724.393931 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 106.174719 meters # Minimum depth: 3729.117133 meters looking forward 100.000000 meters along route # Maximum depth: 3733.520011 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3679.117133 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.988070; longitude = -108.862210; duration = 424; initialDepth = 3683.756406; finalDepth = 3679.117133; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3679.117133 # Seafloor depth: -3729.117133 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 106.174427 meters # Minimum depth: 3733.756406 meters looking forward 100.000000 meters along route # Maximum depth: 3737.498578 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3683.756406 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.988392; longitude = -108.863192; duration = 424; initialDepth = 3688.011059; finalDepth = 3683.756406; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3683.756406 # Seafloor depth: -3733.756406 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 106.174137 meters # Minimum depth: 3738.011059 meters looking forward 100.000000 meters along route # Maximum depth: 3740.773547 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3688.011059 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.988714; longitude = -108.864175; duration = 424; initialDepth = 3657.311287; finalDepth = 3688.011059; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3688.011059 # Seafloor depth: -3738.011059 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 108.548602 meters # Minimum depth: 3707.311287 meters looking forward 100.000000 meters along route # Maximum depth: 3742.205143 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3657.311287 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.989035; longitude = -108.865158; duration = 434; initialDepth = 3542.442516; finalDepth = 3657.311287; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.8076190000002 # Actual altitude: 83.8076190000002 # Commanded vehicle depth: 3657.311287 # Seafloor depth: -3741.118906 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 103.798798 meters # Minimum depth: 3592.442516 meters looking forward 100.000000 meters along route # Maximum depth: 3704.614500 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3542.442516 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.989364; longitude = -108.866162; duration = 415; initialDepth = 3517.248576; finalDepth = 3542.442516; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 162.171984 # Actual altitude: 100 # Commanded vehicle depth: 3542.442516 # Seafloor depth: -3704.614500 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 106.173264 meters # Minimum depth: 3567.248576 meters looking forward 100.000000 meters along route # Maximum depth: 3585.687252 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3517.248576 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.989679; longitude = -108.867123; duration = 424; initialDepth = 3513.466816; finalDepth = 3517.248576; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 162.171984 # Actual altitude: 100 # Commanded vehicle depth: 3517.248576 # Seafloor depth: -3585.687252 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 106.172973 meters # Minimum depth: 3563.466816 meters looking forward 100.000000 meters along route # Maximum depth: 3567.222596 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3513.466816 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.990001; longitude = -108.868106; duration = 424; initialDepth = 3500.789682; finalDepth = 3513.466816; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.4386760000002 # Actual altitude: 68.4386760000002 # Commanded vehicle depth: 3513.466816 # Seafloor depth: -3567.222596 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 100.900986 meters # Minimum depth: 3550.789682 meters looking forward 100.000000 meters along route # Maximum depth: 3562.450752 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3500.789682 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.990323; longitude = -108.869088; duration = 403; initialDepth = 3491.105823; finalDepth = 3500.789682; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.6610700000001 # Actual altitude: 61.6610700000001 # Commanded vehicle depth: 3500.789682 # Seafloor depth: -3562.450752 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 18.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 100.826862 meters # Minimum depth: 3541.105823 meters looking forward 100.000000 meters along route # Maximum depth: 3550.170710 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3491.105823 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.990628; longitude = -108.870022; duration = 403; initialDepth = 3482.404635; finalDepth = 3491.105823; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.6610700000001 # Actual altitude: 61.6610700000001 # Commanded vehicle depth: 3491.105823 # Seafloor depth: -3550.170710 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 18.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 107.694466 meters # Minimum depth: 3532.404635 meters looking forward 100.000000 meters along route # Maximum depth: 3540.167389 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3482.404635 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.990934; longitude = -108.870955; duration = 430; initialDepth = 3474.522002; finalDepth = 3482.404635; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.064887 # Actual altitude: 59.064887 # Commanded vehicle depth: 3482.404635 # Seafloor depth: -3540.167389 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 104.649503 meters # Minimum depth: 3524.522002 meters looking forward 100.000000 meters along route # Maximum depth: 3532.322192 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3474.522002 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.991260; longitude = -108.871952; duration = 418; initialDepth = 3464.920041; finalDepth = 3474.522002; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.8001899999999 # Actual altitude: 57.8001899999999 # Commanded vehicle depth: 3474.522002 # Seafloor depth: -3532.322192 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 106.171548 meters # Minimum depth: 3514.920041 meters looking forward 100.000000 meters along route # Maximum depth: 3523.250074 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3464.920041 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.991578; longitude = -108.872920; duration = 424; initialDepth = 3463.577325; finalDepth = 3464.920041; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.3300330000002 # Actual altitude: 58.3300330000002 # Commanded vehicle depth: 3464.920041 # Seafloor depth: -3523.250074 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 106.171258 meters # Minimum depth: 3513.577325 meters looking forward 100.000000 meters along route # Maximum depth: 3514.853215 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3463.577325 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.991899; longitude = -108.873903; duration = 424; initialDepth = 3460.854146; finalDepth = 3463.577325; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.3300330000002 # Actual altitude: 58.3300330000002 # Commanded vehicle depth: 3463.577325 # Seafloor depth: -3514.853215 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 100.046982 meters # Minimum depth: 3510.854146 meters looking forward 100.000000 meters along route # Maximum depth: 3513.387531 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3460.854146 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.992221; longitude = -108.874886; duration = 400; initialDepth = 3456.936000; finalDepth = 3460.854146; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5333849999997 # Actual altitude: 52.5333849999997 # Commanded vehicle depth: 3460.854146 # Seafloor depth: -3513.387531 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 101.677607 meters # Minimum depth: 3506.936000 meters looking forward 100.000000 meters along route # Maximum depth: 3510.717105 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3456.936000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.992524; longitude = -108.875812; duration = 406; initialDepth = 3455.490459; finalDepth = 3456.936000; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.781105 # Actual altitude: 53.781105 # Commanded vehicle depth: 3456.936 # Seafloor depth: -3510.717105 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 106.840358 meters # Minimum depth: 3505.490459 meters looking forward 100.000000 meters along route # Maximum depth: 3506.495625 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3455.490459 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.992833; longitude = -108.876753; duration = 427; initialDepth = 3454.935387; finalDepth = 3455.490459; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.781105 # Actual altitude: 53.781105 # Commanded vehicle depth: 3455.490459 # Seafloor depth: -3506.495625 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 109.069329 meters # Minimum depth: 3504.935387 meters looking forward 100.000000 meters along route # Maximum depth: 3506.568543 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3454.935387 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.993156; longitude = -108.877742; duration = 436; initialDepth = 3448.816163; finalDepth = 3454.935387; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.2012319999999 # Actual altitude: 51.2012319999999 # Commanded vehicle depth: 3454.935387 # Seafloor depth: -3506.136619 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 51 # Segment length 149.759371 meters # Minimum depth: 3498.816163 meters looking forward 100.000000 meters along route # Maximum depth: 3504.715759 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3448.816163 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.993487; longitude = -108.878751; duration = 599; # abortOnTimeout = True; initialDepth = 3448.634399; finalDepth = 3448.816163; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.8995960000002 # Actual altitude: 55.8995960000002 # Commanded vehicle depth: 3448.816163 # Seafloor depth: -3504.715759 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 50 # Segment length 177.043085 meters # Minimum depth: 3498.634399 meters looking forward 100.000000 meters along route # Maximum depth: 3504.168450 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3448.634399 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.992193; longitude = -108.879177; duration = 708; # abortOnTimeout = True; initialDepth = 3454.591268; finalDepth = 3448.634399; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.8995960000002 # Actual altitude: 55.8995960000002 # Commanded vehicle depth: 3448.634399 # Seafloor depth: -3498.634399 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 106.195447 meters # Minimum depth: 3504.591268 meters looking forward 100.000000 meters along route # Maximum depth: 3507.378435 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3454.591268 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.991655; longitude = -108.877539; duration = 424; initialDepth = 3457.522041; finalDepth = 3454.591268; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3454.591268 # Seafloor depth: -3504.591268 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 106.195737 meters # Minimum depth: 3507.522041 meters looking forward 100.000000 meters along route # Maximum depth: 3508.448622 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3457.522041 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.991333; longitude = -108.876556; duration = 424; initialDepth = 3458.346764; finalDepth = 3457.522041; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3457.522041 # Seafloor depth: -3507.522041 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 106.196029 meters # Minimum depth: 3508.346764 meters looking forward 100.000000 meters along route # Maximum depth: 3511.076090 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3458.346764 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.991011; longitude = -108.875574; duration = 424; initialDepth = 3461.404068; finalDepth = 3458.346764; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0009170000003 # Actual altitude: 50.0009170000003 # Commanded vehicle depth: 3458.346764 # Seafloor depth: -3508.347681 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 108.884206 meters # Minimum depth: 3511.404068 meters looking forward 100.000000 meters along route # Maximum depth: 3516.028127 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3461.404068 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.990688; longitude = -108.874591; duration = 435; initialDepth = 3466.266618; finalDepth = 3461.404068; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0009170000003 # Actual altitude: 50.0009170000003 # Commanded vehicle depth: 3461.404068 # Seafloor depth: -3511.404068 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 103.508725 meters # Minimum depth: 3516.266618 meters looking forward 100.000000 meters along route # Maximum depth: 3525.219928 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3466.266618 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.990358; longitude = -108.873583; duration = 414; initialDepth = 3476.102291; finalDepth = 3466.266618; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3466.266618 # Seafloor depth: -3516.266618 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 106.196902 meters # Minimum depth: 3526.102291 meters looking forward 100.000000 meters along route # Maximum depth: 3535.598382 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3476.102291 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.990043; longitude = -108.872626; duration = 424; initialDepth = 3485.775773; finalDepth = 3476.102291; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3476.102291 # Seafloor depth: -3526.102291 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 106.197193 meters # Minimum depth: 3535.775773 meters looking forward 100.000000 meters along route # Maximum depth: 3544.023683 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3485.775773 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.989721; longitude = -108.871643; duration = 424; initialDepth = 3494.732592; finalDepth = 3485.775773; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3485.775773 # Seafloor depth: -3535.775773 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 106.197484 meters # Minimum depth: 3544.732592 meters looking forward 100.000000 meters along route # Maximum depth: 3553.000486 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3494.732592 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.989398; longitude = -108.870660; duration = 424; initialDepth = 3503.502681; finalDepth = 3494.732592; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3494.732592 # Seafloor depth: -3544.732592 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 106.197776 meters # Minimum depth: 3553.502681 meters looking forward 100.000000 meters along route # Maximum depth: 3565.537330 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3503.502681 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.989076; longitude = -108.869678; duration = 424; initialDepth = 3518.157528; finalDepth = 3503.502681; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3503.502681 # Seafloor depth: -3553.502681 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 106.198067 meters # Minimum depth: 3568.157528 meters looking forward 100.000000 meters along route # Maximum depth: 3612.551470 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3518.157528 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.988753; longitude = -108.868695; duration = 424; initialDepth = 3546.613214; finalDepth = 3518.157528; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3518.157528 # Seafloor depth: -3568.157528 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 108.914811 meters # Minimum depth: 3620.334156 meters looking forward 100.000000 meters along route # Maximum depth: 3707.927430 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3546.613214 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.988431; longitude = -108.867713; duration = 435; initialDepth = 3575.796849; finalDepth = 3546.613214; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.7209422179135 # Actual altitude: 73.7209422179135 # Commanded vehicle depth: 3546.61321378209 # Seafloor depth: -3620.334156 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 103.482196 meters # Minimum depth: 3709.361592 meters looking forward 100.000000 meters along route # Maximum depth: 3729.596822 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3575.796849 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.988100; longitude = -108.866705; duration = 413; initialDepth = 3603.524819; finalDepth = 3575.796849; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 133.564743087992 # Actual altitude: 100 # Commanded vehicle depth: 3575.79684891201 # Seafloor depth: -3709.361592 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 106.198941 meters # Minimum depth: 3729.961458 meters looking forward 100.000000 meters along route # Maximum depth: 3735.319467 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3603.524819 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.987786; longitude = -108.865747; duration = 424; initialDepth = 3631.980739; finalDepth = 3603.524819; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 133.564743087992 # Actual altitude: 100 # Commanded vehicle depth: 3603.52481926589 # Seafloor depth: -3729.961458 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 106.199232 meters # Minimum depth: 3735.406881 meters looking forward 100.000000 meters along route # Maximum depth: 3737.937250 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3631.980739 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.987464; longitude = -108.864765; duration = 424; initialDepth = 3660.436737; finalDepth = 3631.980739; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 126.436638734106 # Actual altitude: 100 # Commanded vehicle depth: 3631.98073923557 # Seafloor depth: -3735.406881 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 106.199523 meters # Minimum depth: 3731.709573 meters looking forward 100.000000 meters along route # Maximum depth: 3737.339099 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3660.436737 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.987141; longitude = -108.863782; duration = 424; initialDepth = 3679.325105; finalDepth = 3660.436737; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 103.426141764428 # Actual altitude: 100 # Commanded vehicle depth: 3660.43673717846 # Seafloor depth: -3737.339099 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 106.199815 meters # Minimum depth: 3729.325105 meters looking forward 100.000000 meters along route # Maximum depth: 3731.342425 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3679.325105 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.986819; longitude = -108.862799; duration = 424; initialDepth = 3679.253888; finalDepth = 3679.325105; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.9023618215397 # Actual altitude: 76.9023618215397 # Commanded vehicle depth: 3679.325105 # Seafloor depth: -3731.342425 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 106.200106 meters # Minimum depth: 3729.253888 meters looking forward 100.000000 meters along route # Maximum depth: 3729.533569 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3679.253888 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.986496; longitude = -108.861817; duration = 424; initialDepth = 3679.323504; finalDepth = 3679.253888; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0173199999999 # Actual altitude: 52.0173199999999 # Commanded vehicle depth: 3679.253888 # Seafloor depth: -3729.435512 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 108.945418 meters # Minimum depth: 3729.323504 meters looking forward 100.000000 meters along route # Maximum depth: 3731.316938 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3679.323504 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.986174; longitude = -108.860834; duration = 435; initialDepth = 3681.434826; finalDepth = 3679.323504; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1816239999998 # Actual altitude: 50.1816239999998 # Commanded vehicle depth: 3679.323504 # Seafloor depth: -3729.323504 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 103.455668 meters # Minimum depth: 3731.434826 meters looking forward 100.000000 meters along route # Maximum depth: 3737.535717 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3681.434826 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.985843; longitude = -108.859826; duration = 413; initialDepth = 3688.222359; finalDepth = 3681.434826; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3681.434826 # Seafloor depth: -3731.434826 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 106.200981 meters # Minimum depth: 3738.222359 meters looking forward 100.000000 meters along route # Maximum depth: 3746.316434 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3688.222359 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.985529; longitude = -108.858869; duration = 424; initialDepth = 3696.461224; finalDepth = 3688.222359; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3688.222359 # Seafloor depth: -3738.222359 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 106.201272 meters # Minimum depth: 3746.461224 meters looking forward 100.000000 meters along route # Maximum depth: 3757.540501 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3696.461224 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.985207; longitude = -108.857886; duration = 424; initialDepth = 3708.476797; finalDepth = 3696.461224; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3696.461224 # Seafloor depth: -3746.461224 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 100.466446 meters # Minimum depth: 3758.476797 meters looking forward 100.000000 meters along route # Maximum depth: 3764.251641 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3708.476797 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.984884; longitude = -108.856904; duration = 401; initialDepth = 3712.674748; finalDepth = 3708.476797; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3708.476797 # Seafloor depth: -3758.476797 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 101.316773 meters # Minimum depth: 3762.674748 meters looking forward 100.000000 meters along route # Maximum depth: 3764.469187 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3712.674748 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.984579; longitude = -108.855974; duration = 405; initialDepth = 3712.555607; finalDepth = 3712.674748; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.662135 # Actual altitude: 51.662135 # Commanded vehicle depth: 3712.674748 # Seafloor depth: -3764.336883 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 106.847091 meters # Minimum depth: 3762.555607 meters looking forward 100.000000 meters along route # Maximum depth: 3770.590221 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3712.555607 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.984272; longitude = -108.855037; duration = 427; initialDepth = 3720.695452; finalDepth = 3712.555607; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.662135 # Actual altitude: 51.662135 # Commanded vehicle depth: 3712.555607 # Seafloor depth: -3762.591717 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 109.065122 meters # Minimum depth: 3770.695452 meters looking forward 100.000000 meters along route # Maximum depth: 3791.110960 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3720.695452 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.983947; longitude = -108.854048; duration = 436; initialDepth = 3740.807941; finalDepth = 3720.695452; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.03611 # Actual altitude: 50.03611 # Commanded vehicle depth: 3720.695452 # Seafloor depth: -3770.695452 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.01; 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 49 # Segment length 153.901405 meters # Minimum depth: 3790.807941 meters looking forward 100.000000 meters along route # Maximum depth: 3791.918246 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3740.807941 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.983616; longitude = -108.853039; duration = 615; # abortOnTimeout = True; initialDepth = 3724.808126; finalDepth = 3740.807941; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.9618949999999 # Actual altitude: 50.9618949999999 # Commanded vehicle depth: 3740.807941 # Seafloor depth: -3791.769836 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 48 # Segment length 81.416185 meters # Minimum depth: 3774.808126 meters looking forward 100.000000 meters along route # Maximum depth: 3791.257237 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3724.808126 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.982292; longitude = -108.853497; duration = 325; # abortOnTimeout = True; initialDepth = 3704.588375; finalDepth = 3724.808126; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.5892130000002 # Actual altitude: 65.5892130000002 # Commanded vehicle depth: 3724.808126 # Seafloor depth: -3790.397339 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 19.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 107.508230 meters # Minimum depth: 3754.588375 meters looking forward 100.000000 meters along route # Maximum depth: 3772.193874 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3704.588375 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.982538; longitude = -108.854251; duration = 430; initialDepth = 3704.061207; finalDepth = 3704.588375; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.6054990000002 # Actual altitude: 67.6054990000002 # Commanded vehicle depth: 3704.588375 # Seafloor depth: -3772.193874 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 104.808140 meters # Minimum depth: 3754.061207 meters looking forward 100.000000 meters along route # Maximum depth: 3757.251244 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3704.061207 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.982864; longitude = -108.855246; duration = 419; initialDepth = 3706.272289; finalDepth = 3704.061207; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.6054990000002 # Actual altitude: 67.6054990000002 # Commanded vehicle depth: 3704.061207 # Seafloor depth: -3754.536605 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 106.157749 meters # Minimum depth: 3756.272289 meters looking forward 100.000000 meters along route # Maximum depth: 3758.517255 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3706.272289 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.983181; longitude = -108.856216; duration = 424; initialDepth = 3701.073371; finalDepth = 3706.272289; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4707509999998 # Actual altitude: 51.4707509999998 # Commanded vehicle depth: 3706.272289 # Seafloor depth: -3757.743040 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 106.157459 meters # Minimum depth: 3751.073371 meters looking forward 100.000000 meters along route # Maximum depth: 3756.187602 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3701.073371 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.983502; longitude = -108.857198; duration = 424; initialDepth = 3696.768566; finalDepth = 3701.073371; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.114231 # Actual altitude: 55.114231 # Commanded vehicle depth: 3701.073371 # Seafloor depth: -3756.187602 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 100.590742 meters # Minimum depth: 3746.768566 meters looking forward 100.000000 meters along route # Maximum depth: 3750.320722 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3696.768566 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.983823; longitude = -108.858181; duration = 402; initialDepth = 3691.062947; finalDepth = 3696.768566; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.114231 # Actual altitude: 55.114231 # Commanded vehicle depth: 3696.768566 # Seafloor depth: -3750.320722 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 101.107628 meters # Minimum depth: 3741.062947 meters looking forward 100.000000 meters along route # Maximum depth: 3746.623323 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3691.062947 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.984128; longitude = -108.859112; duration = 404; initialDepth = 3684.664563; finalDepth = 3691.062947; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.5603759999999 # Actual altitude: 55.5603759999999 # Commanded vehicle depth: 3691.062947 # Seafloor depth: -3746.623323 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 107.747729 meters # Minimum depth: 3734.664563 meters looking forward 100.000000 meters along route # Maximum depth: 3740.405393 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3684.664563 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.984434; longitude = -108.860048; duration = 430; initialDepth = 3681.290549; finalDepth = 3684.664563; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.7408300000002 # Actual altitude: 55.7408300000002 # Commanded vehicle depth: 3684.664563 # Seafloor depth: -3740.405393 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 104.565212 meters # Minimum depth: 3731.290549 meters looking forward 100.000000 meters along route # Maximum depth: 3734.578530 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3681.290549 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.984760; longitude = -108.861045; duration = 418; initialDepth = 3681.294914; finalDepth = 3681.290549; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.7408300000002 # Actual altitude: 55.7408300000002 # Commanded vehicle depth: 3681.290549 # Seafloor depth: -3734.578530 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 106.156034 meters # Minimum depth: 3731.294914 meters looking forward 100.000000 meters along route # Maximum depth: 3736.235828 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3681.294914 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.985076; longitude = -108.862013; duration = 424; initialDepth = 3686.371683; finalDepth = 3681.294914; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2879809999999 # Actual altitude: 53.2879809999999 # Commanded vehicle depth: 3681.294914 # Seafloor depth: -3731.294914 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 106.155744 meters # Minimum depth: 3736.371683 meters looking forward 100.000000 meters along route # Maximum depth: 3740.232381 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3686.371683 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.985397; longitude = -108.862996; duration = 424; initialDepth = 3671.758141; finalDepth = 3686.371683; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3686.371683 # Seafloor depth: -3736.371683 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 106.155453 meters # Minimum depth: 3721.758141 meters looking forward 100.000000 meters along route # Maximum depth: 3739.087696 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3671.758141 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.985719; longitude = -108.863979; duration = 424; initialDepth = 3656.785969; finalDepth = 3671.758141; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.3295550000003 # Actual altitude: 67.3295550000003 # Commanded vehicle depth: 3671.758141 # Seafloor depth: -3739.087696 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 106.155163 meters # Minimum depth: 3706.785969 meters looking forward 100.000000 meters along route # Maximum depth: 3720.490123 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3656.785969 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.986040; longitude = -108.864961; duration = 424; initialDepth = 3657.036266; finalDepth = 3656.785969; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.3295550000003 # Actual altitude: 67.3295550000003 # Commanded vehicle depth: 3656.785969 # Seafloor depth: -3720.490123 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 106.154872 meters # Minimum depth: 3707.036266 meters looking forward 100.000000 meters along route # Maximum depth: 3714.301801 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3657.036266 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.986361; longitude = -108.865944; duration = 424; initialDepth = 3610.638010; finalDepth = 3657.036266; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.704154 # Actual altitude: 63.704154 # Commanded vehicle depth: 3657.036266 # Seafloor depth: -3707.036266 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 19.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 110.560331 meters # Minimum depth: 3660.638010 meters looking forward 100.000000 meters along route # Maximum depth: 3713.859093 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3610.638010 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.986682; longitude = -108.866926; duration = 442; initialDepth = 3538.028326; finalDepth = 3610.638010; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 103.221083 # Actual altitude: 100 # Commanded vehicle depth: 3610.63801 # Seafloor depth: -3713.859093 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 101.748543 meters # Minimum depth: 3588.028326 meters looking forward 100.000000 meters along route # Maximum depth: 3656.865862 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3538.028326 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.987017; longitude = -108.867950; duration = 406; initialDepth = 3502.175013; finalDepth = 3538.028326; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 118.837536 # Actual altitude: 100 # Commanded vehicle depth: 3538.028326 # Seafloor depth: -3656.865862 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 107.101673 meters # Minimum depth: 3552.175013 meters looking forward 100.000000 meters along route # Maximum depth: 3581.629050 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3502.175013 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.987325; longitude = -108.868892; duration = 428; initialDepth = 3498.634282; finalDepth = 3502.175013; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 118.837536 # Actual altitude: 100 # Commanded vehicle depth: 3502.175013 # Seafloor depth: -3581.629050 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 105.206038 meters # Minimum depth: 3548.634282 meters looking forward 100.000000 meters along route # Maximum depth: 3552.141273 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3498.634282 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.987649; longitude = -108.869883; duration = 420; initialDepth = 3487.058338; finalDepth = 3498.634282; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.454037 # Actual altitude: 79.454037 # Commanded vehicle depth: 3498.634282 # Seafloor depth: -3552.141273 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 106.153420 meters # Minimum depth: 3537.058338 meters looking forward 100.000000 meters along route # Maximum depth: 3547.591422 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3487.058338 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.987967; longitude = -108.870857; duration = 424; initialDepth = 3475.182424; finalDepth = 3487.058338; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.5330840000001 # Actual altitude: 60.5330840000001 # Commanded vehicle depth: 3487.058338 # Seafloor depth: -3547.591422 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 18.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 106.153130 meters # Minimum depth: 3525.182424 meters looking forward 100.000000 meters along route # Maximum depth: 3536.779387 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3475.182424 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.988289; longitude = -108.871840; duration = 424; initialDepth = 3469.495340; finalDepth = 3475.182424; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.596963 # Actual altitude: 61.596963 # Commanded vehicle depth: 3475.182424 # Seafloor depth: -3536.779387 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 18.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 106.152840 meters # Minimum depth: 3519.495340 meters looking forward 100.000000 meters along route # Maximum depth: 3524.469558 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3469.495340 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.988610; longitude = -108.872822; duration = 424; initialDepth = 3460.577649; finalDepth = 3469.495340; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.596963 # Actual altitude: 61.596963 # Commanded vehicle depth: 3469.49534 # Seafloor depth: -3524.469558 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 18.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 106.152549 meters # Minimum depth: 3510.577649 meters looking forward 100.000000 meters along route # Maximum depth: 3518.960389 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3460.577649 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.988931; longitude = -108.873805; duration = 424; initialDepth = 3456.789055; finalDepth = 3460.577649; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.38274 # Actual altitude: 58.38274 # Commanded vehicle depth: 3460.577649 # Seafloor depth: -3518.960389 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 106.152259 meters # Minimum depth: 3506.789055 meters looking forward 100.000000 meters along route # Maximum depth: 3510.078267 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3456.789055 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.989252; longitude = -108.874787; duration = 424; initialDepth = 3452.391757; finalDepth = 3456.789055; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.38274 # Actual altitude: 58.38274 # Commanded vehicle depth: 3456.789055 # Seafloor depth: -3510.078267 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 109.914220 meters # Minimum depth: 3502.391757 meters looking forward 100.000000 meters along route # Maximum depth: 3506.471688 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3452.391757 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.989573; longitude = -108.875770; duration = 439; initialDepth = 3447.677178; finalDepth = 3452.391757; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0799310000002 # Actual altitude: 54.0799310000002 # Commanded vehicle depth: 3452.391757 # Seafloor depth: -3506.471688 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 102.389427 meters # Minimum depth: 3497.677178 meters looking forward 100.000000 meters along route # Maximum depth: 3502.219336 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3447.677178 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.989906; longitude = -108.876788; duration = 409; initialDepth = 3445.387081; finalDepth = 3447.677178; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5421580000002 # Actual altitude: 54.5421580000002 # Commanded vehicle depth: 3447.677178 # Seafloor depth: -3502.219336 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 106.455653 meters # Minimum depth: 3495.387081 meters looking forward 100.000000 meters along route # Maximum depth: 3497.445176 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3445.387081 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.990216; longitude = -108.877735; duration = 425; initialDepth = 3442.257189; finalDepth = 3445.387081; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5421580000002 # Actual altitude: 54.5421580000002 # Commanded vehicle depth: 3445.387081 # Seafloor depth: -3497.445176 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 109.347826 meters # Minimum depth: 3492.257189 meters looking forward 100.000000 meters along route # Maximum depth: 3495.375115 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3442.257189 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.990538; longitude = -108.878721; duration = 437; initialDepth = 3438.292734; finalDepth = 3442.257189; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.1179259999999 # Actual altitude: 53.1179259999999 # Commanded vehicle depth: 3442.257189 # Seafloor depth: -3495.375115 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 47 # Segment length 161.566138 meters # Minimum depth: 3488.292734 meters looking forward 100.000000 meters along route # Maximum depth: 3492.128601 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3438.292734 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.990869; longitude = -108.879733; duration = 646; # abortOnTimeout = True; initialDepth = 3438.637535; finalDepth = 3438.292734; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.8358669999998 # Actual altitude: 53.8358669999998 # Commanded vehicle depth: 3438.292734 # Seafloor depth: -3492.128601 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 46 # Segment length 81.835768 meters # Minimum depth: 3488.637535 meters looking forward 100.000000 meters along route # Maximum depth: 3490.689468 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3438.637535 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.989515; longitude = -108.880323; duration = 327; # abortOnTimeout = True; initialDepth = 3440.774734; finalDepth = 3438.637535; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.8358669999998 # Actual altitude: 53.8358669999998 # Commanded vehicle depth: 3438.637535 # Seafloor depth: -3488.701599 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 101.549264 meters # Minimum depth: 3490.774734 meters looking forward 100.000000 meters along route # Maximum depth: 3492.064139 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3440.774734 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.989274; longitude = -108.879563; duration = 406; initialDepth = 3442.253606; finalDepth = 3440.774734; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0640640000001 # Actual altitude: 50.0640640000001 # Commanded vehicle depth: 3440.774734 # Seafloor depth: -3490.774734 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 105.794535 meters # Minimum depth: 3492.253606 meters looking forward 100.000000 meters along route # Maximum depth: 3497.396698 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3442.253606 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.988975; longitude = -108.878620; duration = 423; initialDepth = 3448.244914; finalDepth = 3442.253606; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3442.253606 # Seafloor depth: -3492.253606 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 105.794818 meters # Minimum depth: 3498.244914 meters looking forward 100.000000 meters along route # Maximum depth: 3502.534287 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3448.244914 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.988664; longitude = -108.877637; duration = 423; initialDepth = 3452.688147; finalDepth = 3448.244914; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3448.244914 # Seafloor depth: -3498.244914 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 105.795103 meters # Minimum depth: 3502.688147 meters looking forward 100.000000 meters along route # Maximum depth: 3505.142437 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3452.688147 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.988352; longitude = -108.876654; duration = 423; initialDepth = 3455.049855; finalDepth = 3452.688147; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3452.688147 # Seafloor depth: -3502.688147 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 105.795385 meters # Minimum depth: 3505.049855 meters looking forward 100.000000 meters along route # Maximum depth: 3508.691065 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3455.049855 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.988041; longitude = -108.875672; duration = 423; initialDepth = 3458.972653; finalDepth = 3455.049855; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0314869999997 # Actual altitude: 50.0314869999997 # Commanded vehicle depth: 3455.049855 # Seafloor depth: -3505.081342 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 105.795670 meters # Minimum depth: 3508.972653 meters looking forward 100.000000 meters along route # Maximum depth: 3517.696035 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3458.972653 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.987729; longitude = -108.874689; duration = 423; initialDepth = 3468.442175; finalDepth = 3458.972653; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0314869999997 # Actual altitude: 50.0314869999997 # Commanded vehicle depth: 3458.972653 # Seafloor depth: -3508.972653 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 105.795954 meters # Minimum depth: 3518.442175 meters looking forward 100.000000 meters along route # Maximum depth: 3530.165315 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3468.442175 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.987418; longitude = -108.873707; duration = 423; initialDepth = 3480.212946; finalDepth = 3468.442175; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3468.442175 # Seafloor depth: -3518.442175 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 105.796237 meters # Minimum depth: 3530.212946 meters looking forward 100.000000 meters along route # Maximum depth: 3541.299425 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3480.212946 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.987106; longitude = -108.872724; duration = 423; initialDepth = 3492.115456; finalDepth = 3480.212946; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3480.212946 # Seafloor depth: -3530.212946 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 108.586720 meters # Minimum depth: 3542.115456 meters looking forward 100.000000 meters along route # Maximum depth: 3548.227339 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3492.115456 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.986795; longitude = -108.871741; duration = 434; initialDepth = 3498.308346; finalDepth = 3492.115456; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3492.115456 # Seafloor depth: -3542.115456 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 103.006606 meters # Minimum depth: 3548.308346 meters looking forward 100.000000 meters along route # Maximum depth: 3553.374006 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3498.308346 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.986475; longitude = -108.870733; duration = 412; initialDepth = 3505.305349; finalDepth = 3498.308346; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3498.308346 # Seafloor depth: -3548.308346 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 105.797089 meters # Minimum depth: 3555.305349 meters looking forward 100.000000 meters along route # Maximum depth: 3602.606488 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3505.305349 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.986172; longitude = -108.869776; duration = 423; initialDepth = 3533.653593; finalDepth = 3505.305349; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3505.305349 # Seafloor depth: -3555.305349 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 105.797373 meters # Minimum depth: 3610.664329 meters looking forward 100.000000 meters along route # Maximum depth: 3686.767583 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3533.653593 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.985860; longitude = -108.868793; duration = 423; initialDepth = 3562.001913; finalDepth = 3533.653593; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.0107359472804 # Actual altitude: 77.0107359472804 # Commanded vehicle depth: 3533.65359305272 # Seafloor depth: -3610.664329 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 105.797656 meters # Minimum depth: 3691.384263 meters looking forward 100.000000 meters along route # Maximum depth: 3708.209541 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3562.001913 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.985549; longitude = -108.867811; duration = 423; initialDepth = 3590.350309; finalDepth = 3562.001913; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 129.382349796989 # Actual altitude: 100 # Commanded vehicle depth: 3562.00191320301 # Seafloor depth: -3691.384263 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 105.797941 meters # Minimum depth: 3689.790544 meters looking forward 100.000000 meters along route # Maximum depth: 3703.492861 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3590.350309 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.985238; longitude = -108.866828; duration = 423; initialDepth = 3618.698782; finalDepth = 3590.350309; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 129.382349796989 # Actual altitude: 100 # Commanded vehicle depth: 3590.35030918292 # Seafloor depth: -3703.492861 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 105.798224 meters # Minimum depth: 3691.238662 meters looking forward 100.000000 meters along route # Maximum depth: 3719.016785 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3618.698782 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.984926; longitude = -108.865846; duration = 423; initialDepth = 3647.047330; finalDepth = 3618.698782; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 113.142551817078 # Actual altitude: 100 # Commanded vehicle depth: 3618.69878152835 # Seafloor depth: -3691.238662 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 105.798509 meters # Minimum depth: 3721.965041 meters looking forward 100.000000 meters along route # Maximum depth: 3738.462160 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3647.047330 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.984615; longitude = -108.864863; duration = 423; initialDepth = 3675.395954; finalDepth = 3647.047330; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.9177112966004 # Actual altitude: 74.9177112966004 # Commanded vehicle depth: 3647.0473297034 # Seafloor depth: -3721.965041 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 105.798793 meters # Minimum depth: 3738.443747 meters looking forward 100.000000 meters along route # Maximum depth: 3738.950448 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3675.395954 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.984303; longitude = -108.863880; duration = 423; initialDepth = 3683.013272; finalDepth = 3675.395954; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.9177112966004 # Actual altitude: 74.9177112966004 # Commanded vehicle depth: 3675.39595424397 # Seafloor depth: -3738.550332 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 107.134418 meters # Minimum depth: 3733.013272 meters looking forward 100.000000 meters along route # Maximum depth: 3738.132358 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3683.013272 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.983992; longitude = -108.862898; duration = 428; initialDepth = 3682.994266; finalDepth = 3683.013272; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.1543777560323 # Actual altitude: 63.1543777560323 # Commanded vehicle depth: 3683.013272 # Seafloor depth: -3738.132358 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 18.95; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 104.464019 meters # Minimum depth: 3732.994266 meters looking forward 100.000000 meters along route # Maximum depth: 3736.035936 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3682.994266 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.983676; longitude = -108.861903; duration = 417; initialDepth = 3686.351038; finalDepth = 3682.994266; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.1190859999997 # Actual altitude: 55.1190859999997 # Commanded vehicle depth: 3682.994266 # Seafloor depth: -3733.006219 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 110.219357 meters # Minimum depth: 3736.351038 meters looking forward 100.000000 meters along route # Maximum depth: 3741.424589 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3686.351038 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.983369; longitude = -108.860932; duration = 440; initialDepth = 3691.708207; finalDepth = 3686.351038; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0119529999997 # Actual altitude: 50.0119529999997 # Commanded vehicle depth: 3686.351038 # Seafloor depth: -3736.351038 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 101.380217 meters # Minimum depth: 3741.708207 meters looking forward 100.000000 meters along route # Maximum depth: 3745.418172 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3691.708207 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.983044; longitude = -108.859909; duration = 405; initialDepth = 3695.654743; finalDepth = 3691.708207; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3691.708207 # Seafloor depth: -3741.708207 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 105.800213 meters # Minimum depth: 3745.654743 meters looking forward 100.000000 meters along route # Maximum depth: 3749.004538 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3695.654743 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.982746; longitude = -108.858967; duration = 423; initialDepth = 3696.742407; finalDepth = 3695.654743; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3695.654743 # Seafloor depth: -3745.654743 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 105.800497 meters # Minimum depth: 3746.742407 meters looking forward 100.000000 meters along route # Maximum depth: 3749.253482 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3696.742407 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.982434; longitude = -108.857985; duration = 423; initialDepth = 3694.817266; finalDepth = 3696.742407; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4473079999998 # Actual altitude: 52.4473079999998 # Commanded vehicle depth: 3696.742407 # Seafloor depth: -3749.189715 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 105.800782 meters # Minimum depth: 3744.817266 meters looking forward 100.000000 meters along route # Maximum depth: 3746.450886 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3694.817266 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.982123; longitude = -108.857002; duration = 423; initialDepth = 3696.959639; finalDepth = 3694.817266; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4473079999998 # Actual altitude: 52.4473079999998 # Commanded vehicle depth: 3694.817266 # Seafloor depth: -3746.450886 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 105.801066 meters # Minimum depth: 3746.959639 meters looking forward 100.000000 meters along route # Maximum depth: 3760.371782 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3696.959639 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.981811; longitude = -108.856019; duration = 423; initialDepth = 3710.884941; finalDepth = 3696.959639; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6336200000001 # Actual altitude: 51.6336200000001 # Commanded vehicle depth: 3696.959639 # Seafloor depth: -3746.959639 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 109.363084 meters # Minimum depth: 3760.884941 meters looking forward 100.000000 meters along route # Maximum depth: 3782.846398 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3710.884941 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.981500; longitude = -108.855037; duration = 437; initialDepth = 3727.954177; finalDepth = 3710.884941; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3710.884941 # Seafloor depth: -3760.884941 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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 45 # Segment length 148.710251 meters # Minimum depth: 3777.954177 meters looking forward 100.000000 meters along route # Maximum depth: 3783.844604 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3727.954177 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.981178; longitude = -108.854021; duration = 594; # abortOnTimeout = True; initialDepth = 3716.692593; finalDepth = 3727.954177; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.8904269999998 # Actual altitude: 55.8904269999998 # Commanded vehicle depth: 3727.954177 # Seafloor depth: -3783.844604 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 44 # Segment length 88.185687 meters # Minimum depth: 3766.692593 meters looking forward 100.000000 meters along route # Maximum depth: 3780.034424 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3716.692593 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.979914; longitude = -108.854513; duration = 352; # abortOnTimeout = True; initialDepth = 3696.392616; finalDepth = 3716.692593; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.3418309999997 # Actual altitude: 63.3418309999997 # Commanded vehicle depth: 3716.692593 # Seafloor depth: -3780.034424 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 19.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 105.869403 meters # Minimum depth: 3746.392616 meters looking forward 100.000000 meters along route # Maximum depth: 3765.415709 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3696.392616 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.980175; longitude = -108.855331; duration = 423; initialDepth = 3686.630423; finalDepth = 3696.392616; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.0230929999998 # Actual altitude: 69.0230929999998 # Commanded vehicle depth: 3696.392616 # Seafloor depth: -3765.415709 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 105.869116 meters # Minimum depth: 3736.630423 meters looking forward 100.000000 meters along route # Maximum depth: 3744.246354 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3686.630423 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.980488; longitude = -108.856314; duration = 423; initialDepth = 3687.738789; finalDepth = 3686.630423; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.0230929999998 # Actual altitude: 69.0230929999998 # Commanded vehicle depth: 3686.630423 # Seafloor depth: -3744.246354 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 105.868832 meters # Minimum depth: 3737.738789 meters looking forward 100.000000 meters along route # Maximum depth: 3742.117618 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3687.738789 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.980802; longitude = -108.857297; duration = 423; initialDepth = 3691.718039; finalDepth = 3687.738789; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.6159309999998 # Actual altitude: 57.6159309999998 # Commanded vehicle depth: 3687.738789 # Seafloor depth: -3737.738789 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 105.868545 meters # Minimum depth: 3741.718039 meters looking forward 100.000000 meters along route # Maximum depth: 3742.142773 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3691.718039 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.981115; longitude = -108.858279; duration = 423; initialDepth = 3690.422755; finalDepth = 3691.718039; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4247340000002 # Actual altitude: 50.4247340000002 # Commanded vehicle depth: 3691.718039 # Seafloor depth: -3742.142773 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 105.868261 meters # Minimum depth: 3740.422755 meters looking forward 100.000000 meters along route # Maximum depth: 3741.785709 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3690.422755 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.981428; longitude = -108.859262; duration = 423; initialDepth = 3688.922049; finalDepth = 3690.422755; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.339148 # Actual altitude: 51.339148 # Commanded vehicle depth: 3690.422755 # Seafloor depth: -3741.761903 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 105.867975 meters # Minimum depth: 3738.922049 meters looking forward 100.000000 meters along route # Maximum depth: 3740.050858 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3688.922049 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.981742; longitude = -108.860245; duration = 423; initialDepth = 3688.776970; finalDepth = 3688.922049; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.339148 # Actual altitude: 51.339148 # Commanded vehicle depth: 3688.922049 # Seafloor depth: -3740.050858 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 105.867690 meters # Minimum depth: 3738.776970 meters looking forward 100.000000 meters along route # Maximum depth: 3739.039462 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3688.776970 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.982055; longitude = -108.861227; duration = 423; initialDepth = 3688.932324; finalDepth = 3688.776970; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1288090000003 # Actual altitude: 51.1288090000003 # Commanded vehicle depth: 3688.77697 # Seafloor depth: -3739.039462 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 106.382607 meters # Minimum depth: 3738.932324 meters looking forward 100.000000 meters along route # Maximum depth: 3739.827528 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3688.932324 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.982368; longitude = -108.862210; duration = 425; initialDepth = 3687.531543; finalDepth = 3688.932324; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2624920000003 # Actual altitude: 50.2624920000003 # Commanded vehicle depth: 3688.932324 # Seafloor depth: -3738.932324 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 105.351917 meters # Minimum depth: 3737.531543 meters looking forward 100.000000 meters along route # Maximum depth: 3739.443337 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3687.531543 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.982683; longitude = -108.863197; duration = 421; initialDepth = 3666.641343; finalDepth = 3687.531543; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9117940000001 # Actual altitude: 51.9117940000001 # Commanded vehicle depth: 3687.531543 # Seafloor depth: -3739.443337 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 108.192862 meters # Minimum depth: 3716.641343 meters looking forward 100.000000 meters along route # Maximum depth: 3736.821950 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3666.641343 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.982995; longitude = -108.864175; duration = 432; initialDepth = 3635.878688; finalDepth = 3666.641343; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.1806070000002 # Actual altitude: 70.1806070000002 # Commanded vehicle depth: 3666.641343 # Seafloor depth: -3736.821950 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 103.540521 meters # Minimum depth: 3685.878688 meters looking forward 100.000000 meters along route # Maximum depth: 3715.974037 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3635.878688 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.983315; longitude = -108.865179; duration = 414; initialDepth = 3629.036619; finalDepth = 3635.878688; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.0953490000002 # Actual altitude: 80.0953490000002 # Commanded vehicle depth: 3635.878688 # Seafloor depth: -3715.974037 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 110.003099 meters # Minimum depth: 3679.036619 meters looking forward 100.000000 meters along route # Maximum depth: 3689.430196 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3629.036619 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.983622; longitude = -108.866140; duration = 440; initialDepth = 3640.268996; finalDepth = 3629.036619; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.0953490000002 # Actual altitude: 80.0953490000002 # Commanded vehicle depth: 3629.036619 # Seafloor depth: -3683.202521 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 101.729143 meters # Minimum depth: 3690.268996 meters looking forward 100.000000 meters along route # Maximum depth: 3696.204635 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3640.268996 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.983947; longitude = -108.867161; duration = 406; initialDepth = 3585.268596; finalDepth = 3640.268996; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1659020000002 # Actual altitude: 54.1659020000002 # Commanded vehicle depth: 3640.268996 # Seafloor depth: -3690.268996 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 105.865693 meters # Minimum depth: 3635.268596 meters looking forward 100.000000 meters along route # Maximum depth: 3688.399996 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3585.268596 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.984248; longitude = -108.868106; duration = 423; initialDepth = 3515.880156; finalDepth = 3585.268596; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 103.1314 # Actual altitude: 100 # Commanded vehicle depth: 3585.268596 # Seafloor depth: -3688.399996 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 105.865408 meters # Minimum depth: 3565.880156 meters looking forward 100.000000 meters along route # Maximum depth: 3627.625738 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3515.880156 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.984562; longitude = -108.869088; duration = 423; initialDepth = 3503.847172; finalDepth = 3515.880156; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 111.745582 # Actual altitude: 100 # Commanded vehicle depth: 3515.880156 # Seafloor depth: -3627.625738 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 105.865123 meters # Minimum depth: 3553.847172 meters looking forward 100.000000 meters along route # Maximum depth: 3562.942938 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3503.847172 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.984875; longitude = -108.870071; duration = 423; initialDepth = 3495.655456; finalDepth = 3503.847172; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 111.745582 # Actual altitude: 100 # Commanded vehicle depth: 3503.847172 # Seafloor depth: -3562.942938 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 105.864838 meters # Minimum depth: 3545.655456 meters looking forward 100.000000 meters along route # Maximum depth: 3553.751397 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3495.655456 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.985188; longitude = -108.871053; duration = 423; initialDepth = 3485.442741; finalDepth = 3495.655456; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.0957660000004 # Actual altitude: 59.0957660000004 # Commanded vehicle depth: 3495.655456 # Seafloor depth: -3553.751397 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 105.864553 meters # Minimum depth: 3535.442741 meters looking forward 100.000000 meters along route # Maximum depth: 3544.839793 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3485.442741 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.985502; longitude = -108.872036; duration = 423; initialDepth = 3469.757595; finalDepth = 3485.442741; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.3970520000003 # Actual altitude: 59.3970520000003 # Commanded vehicle depth: 3485.442741 # Seafloor depth: -3544.839793 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 105.864268 meters # Minimum depth: 3519.757595 meters looking forward 100.000000 meters along route # Maximum depth: 3534.074525 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3469.757595 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.985815; longitude = -108.873019; duration = 423; initialDepth = 3460.534823; finalDepth = 3469.757595; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.31693 # Actual altitude: 64.31693 # Commanded vehicle depth: 3469.757595 # Seafloor depth: -3534.074525 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 19.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 105.863982 meters # Minimum depth: 3510.534823 meters looking forward 100.000000 meters along route # Maximum depth: 3519.365737 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3460.534823 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.986128; longitude = -108.874001; duration = 423; initialDepth = 3449.576718; finalDepth = 3460.534823; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.31693 # Actual altitude: 64.31693 # Commanded vehicle depth: 3460.534823 # Seafloor depth: -3519.365737 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 19.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 105.863698 meters # Minimum depth: 3499.576718 meters looking forward 100.000000 meters along route # Maximum depth: 3509.196392 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3449.576718 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.986441; longitude = -108.874984; duration = 423; initialDepth = 3445.825716; finalDepth = 3449.576718; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.619674 # Actual altitude: 59.619674 # Commanded vehicle depth: 3449.576718 # Seafloor depth: -3509.196392 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 105.863413 meters # Minimum depth: 3495.825716 meters looking forward 100.000000 meters along route # Maximum depth: 3499.383446 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3445.825716 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.986755; longitude = -108.875967; duration = 423; initialDepth = 3444.315302; finalDepth = 3445.825716; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.619674 # Actual altitude: 59.619674 # Commanded vehicle depth: 3445.825716 # Seafloor depth: -3499.383446 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 105.863128 meters # Minimum depth: 3494.315302 meters looking forward 100.000000 meters along route # Maximum depth: 3495.603054 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3444.315302 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.987068; longitude = -108.876949; duration = 423; initialDepth = 3442.293396; finalDepth = 3444.315302; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.55773 # Actual altitude: 53.55773 # Commanded vehicle depth: 3444.315302 # Seafloor depth: -3495.603054 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 105.862843 meters # Minimum depth: 3492.293396 meters looking forward 100.000000 meters along route # Maximum depth: 3494.306667 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3442.293396 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.987381; longitude = -108.877932; duration = 423; initialDepth = 3438.506820; finalDepth = 3442.293396; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0132709999998 # Actual altitude: 52.0132709999998 # Commanded vehicle depth: 3442.293396 # Seafloor depth: -3494.306667 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 106.516622 meters # Minimum depth: 3488.506820 meters looking forward 100.000000 meters along route # Maximum depth: 3491.861038 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3438.506820 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.987695; longitude = -108.878914; duration = 426; initialDepth = 3436.173033; finalDepth = 3438.506820; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.3542179999999 # Actual altitude: 53.3542179999999 # Commanded vehicle depth: 3438.50682 # Seafloor depth: -3491.861038 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 101.680806 meters # Minimum depth: 3486.173033 meters looking forward 100.000000 meters along route # Maximum depth: 3488.489679 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3436.173033 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.988010; longitude = -108.879903; duration = 406; initialDepth = 3434.368800; finalDepth = 3436.173033; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.3542179999999 # Actual altitude: 53.3542179999999 # Commanded vehicle depth: 3436.173033 # Seafloor depth: -3488.489679 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.01; 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 43 # Segment length 148.673017 meters # Minimum depth: 3484.368800 meters looking forward 100.000000 meters along route # Maximum depth: 3486.174500 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3434.368800 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.988311; longitude = -108.880847; duration = 594; # abortOnTimeout = True; initialDepth = 3434.705289; finalDepth = 3434.368800; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.3166459999998 # Actual altitude: 52.3166459999998 # Commanded vehicle depth: 3434.3688 # Seafloor depth: -3486.174500 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 42 # Segment length 91.784677 meters # Minimum depth: 3484.705289 meters looking forward 100.000000 meters along route # Maximum depth: 3486.308324 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3434.705289 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.987047; longitude = -108.881338; duration = 367; # abortOnTimeout = True; initialDepth = 3436.396691; finalDepth = 3434.705289; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8056999999999 # Actual altitude: 51.8056999999999 # Commanded vehicle depth: 3434.705289 # Seafloor depth: -3484.795715 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 105.943000 meters # Minimum depth: 3486.396691 meters looking forward 100.000000 meters along route # Maximum depth: 3488.841991 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3436.396691 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.986774; longitude = -108.880487; duration = 423; initialDepth = 3439.045341; finalDepth = 3436.396691; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0904260000002 # Actual altitude: 50.0904260000002 # Commanded vehicle depth: 3436.396691 # Seafloor depth: -3486.396691 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 105.943286 meters # Minimum depth: 3489.045341 meters looking forward 100.000000 meters along route # Maximum depth: 3491.357137 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3439.045341 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.986458; longitude = -108.879504; duration = 423; initialDepth = 3441.685943; finalDepth = 3439.045341; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3439.045341 # Seafloor depth: -3489.045341 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 105.943572 meters # Minimum depth: 3491.685943 meters looking forward 100.000000 meters along route # Maximum depth: 3497.430480 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3441.685943 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.986143; longitude = -108.878521; duration = 423; initialDepth = 3447.756167; finalDepth = 3441.685943; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3441.685943 # Seafloor depth: -3491.685943 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 105.943859 meters # Minimum depth: 3497.756167 meters looking forward 100.000000 meters along route # Maximum depth: 3502.953029 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3447.756167 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.985827; longitude = -108.877539; duration = 423; initialDepth = 3453.589742; finalDepth = 3447.756167; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3447.756167 # Seafloor depth: -3497.756167 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 105.944145 meters # Minimum depth: 3503.589742 meters looking forward 100.000000 meters along route # Maximum depth: 3511.276218 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3453.589742 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.985512; longitude = -108.876556; duration = 423; initialDepth = 3461.740916; finalDepth = 3453.589742; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3453.589742 # Seafloor depth: -3503.589742 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 105.944431 meters # Minimum depth: 3511.740916 meters looking forward 100.000000 meters along route # Maximum depth: 3518.326684 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3461.740916 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.985196; longitude = -108.875574; duration = 423; initialDepth = 3468.697548; finalDepth = 3461.740916; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3461.740916 # Seafloor depth: -3511.740916 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 105.944718 meters # Minimum depth: 3518.697548 meters looking forward 100.000000 meters along route # Maximum depth: 3530.222595 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3468.697548 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.984881; longitude = -108.874591; duration = 423; initialDepth = 3481.017590; finalDepth = 3468.697548; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3468.697548 # Seafloor depth: -3518.697548 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 105.945005 meters # Minimum depth: 3531.017590 meters looking forward 100.000000 meters along route # Maximum depth: 3545.870937 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3481.017590 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.984565; longitude = -108.873608; duration = 423; initialDepth = 3497.220959; finalDepth = 3481.017590; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3481.01759 # Seafloor depth: -3531.017590 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 105.945290 meters # Minimum depth: 3547.220959 meters looking forward 100.000000 meters along route # Maximum depth: 3556.071396 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3497.220959 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.984250; longitude = -108.872626; duration = 423; initialDepth = 3504.984338; finalDepth = 3497.220959; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3497.220959 # Seafloor depth: -3547.220959 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 105.945578 meters # Minimum depth: 3554.984338 meters looking forward 100.000000 meters along route # Maximum depth: 3557.371022 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3504.984338 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.983934; longitude = -108.871643; duration = 423; initialDepth = 3509.242066; finalDepth = 3504.984338; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2301819999998 # Actual altitude: 51.2301819999998 # Commanded vehicle depth: 3504.984338 # Seafloor depth: -3556.214520 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 105.945864 meters # Minimum depth: 3559.242066 meters looking forward 100.000000 meters along route # Maximum depth: 3609.184598 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3509.242066 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.983619; longitude = -108.870660; duration = 423; initialDepth = 3537.630174; finalDepth = 3509.242066; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2301819999998 # Actual altitude: 51.2301819999998 # Commanded vehicle depth: 3509.242066 # Seafloor depth: -3559.242066 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 105.946150 meters # Minimum depth: 3612.004763 meters looking forward 100.000000 meters along route # Maximum depth: 3672.438987 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3537.630174 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.983303; longitude = -108.869678; duration = 423; initialDepth = 3566.018359; finalDepth = 3537.630174; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.3745888068865 # Actual altitude: 74.3745888068865 # Commanded vehicle depth: 3537.63017419311 # Seafloor depth: -3612.004763 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 105.946437 meters # Minimum depth: 3677.204398 meters looking forward 100.000000 meters along route # Maximum depth: 3691.172489 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3566.018359 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.982988; longitude = -108.868695; duration = 423; initialDepth = 3594.406621; finalDepth = 3566.018359; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 111.186038980306 # Actual altitude: 100 # Commanded vehicle depth: 3566.01835901969 # Seafloor depth: -3677.204398 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 105.946724 meters # Minimum depth: 3677.014735 meters looking forward 100.000000 meters along route # Maximum depth: 3687.701528 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3594.406621 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.982672; longitude = -108.867713; duration = 423; initialDepth = 3622.794959; finalDepth = 3594.406621; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 111.186038980306 # Actual altitude: 100 # Commanded vehicle depth: 3594.40662074769 # Seafloor depth: -3687.701528 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 105.947010 meters # Minimum depth: 3678.460251 meters looking forward 100.000000 meters along route # Maximum depth: 3709.423488 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3622.794959 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.982357; longitude = -108.866730; duration = 423; initialDepth = 3651.183375; finalDepth = 3622.794959; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 93.2949072523093 # Actual altitude: 93.2949072523093 # Commanded vehicle depth: 3622.79495937711 # Seafloor depth: -3678.460251 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 105.947297 meters # Minimum depth: 3710.439745 meters looking forward 100.000000 meters along route # Maximum depth: 3727.207409 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3651.183375 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.982041; longitude = -108.865747; duration = 423; initialDepth = 3678.177999; finalDepth = 3651.183375; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.2563703600108 # Actual altitude: 59.2563703600108 # Commanded vehicle depth: 3651.18337463999 # Seafloor depth: -3710.439745 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 105.947584 meters # Minimum depth: 3728.177999 meters looking forward 100.000000 meters along route # Maximum depth: 3733.744464 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3678.177999 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.981726; longitude = -108.864765; duration = 423; initialDepth = 3683.881424; finalDepth = 3678.177999; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.2563703600108 # Actual altitude: 59.2563703600108 # Commanded vehicle depth: 3678.177999 # Seafloor depth: -3728.177999 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 105.947870 meters # Minimum depth: 3733.881424 meters looking forward 100.000000 meters along route # Maximum depth: 3736.871491 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3683.881424 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.981410; longitude = -108.863782; duration = 423; initialDepth = 3684.834343; finalDepth = 3683.881424; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3683.881424 # Seafloor depth: -3733.881424 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 105.948157 meters # Minimum depth: 3734.834343 meters looking forward 100.000000 meters along route # Maximum depth: 3736.779010 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3684.834343 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.981094; longitude = -108.862799; duration = 423; initialDepth = 3684.816024; finalDepth = 3684.834343; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9446670000002 # Actual altitude: 51.9446670000002 # Commanded vehicle depth: 3684.834343 # Seafloor depth: -3736.779010 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 105.948444 meters # Minimum depth: 3734.816024 meters looking forward 100.000000 meters along route # Maximum depth: 3736.314749 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3684.816024 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.980779; longitude = -108.861817; duration = 423; initialDepth = 3686.435851; finalDepth = 3684.816024; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9446670000002 # Actual altitude: 51.9446670000002 # Commanded vehicle depth: 3684.816024 # Seafloor depth: -3734.816024 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 105.948731 meters # Minimum depth: 3736.435851 meters looking forward 100.000000 meters along route # Maximum depth: 3737.103210 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3686.435851 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.980463; longitude = -108.860834; duration = 423; initialDepth = 3685.257774; finalDepth = 3686.435851; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3686.435851 # Seafloor depth: -3736.435851 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 105.949017 meters # Minimum depth: 3735.257774 meters looking forward 100.000000 meters along route # Maximum depth: 3737.147456 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3685.257774 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.980148; longitude = -108.859852; duration = 423; initialDepth = 3680.941743; finalDepth = 3685.257774; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8494259999998 # Actual altitude: 51.8494259999998 # Commanded vehicle depth: 3685.257774 # Seafloor depth: -3737.107200 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 105.949304 meters # Minimum depth: 3730.941743 meters looking forward 100.000000 meters along route # Maximum depth: 3734.910978 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3680.941743 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.979832; longitude = -108.858869; duration = 423; initialDepth = 3680.488401; finalDepth = 3680.941743; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.969235 # Actual altitude: 53.969235 # Commanded vehicle depth: 3680.941743 # Seafloor depth: -3734.910978 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 105.949591 meters # Minimum depth: 3730.488401 meters looking forward 100.000000 meters along route # Maximum depth: 3736.375362 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3680.488401 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.979517; longitude = -108.857886; duration = 423; initialDepth = 3688.600244; finalDepth = 3680.488401; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.969235 # Actual altitude: 53.969235 # Commanded vehicle depth: 3680.488401 # Seafloor depth: -3730.873427 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 105.949878 meters # Minimum depth: 3738.600244 meters looking forward 100.000000 meters along route # Maximum depth: 3765.303485 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3688.600244 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.979201; longitude = -108.856904; duration = 423; initialDepth = 3715.667594; finalDepth = 3688.600244; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3850259999999 # Actual altitude: 50.3850259999999 # Commanded vehicle depth: 3688.600244 # Seafloor depth: -3738.600244 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 109.448171 meters # Minimum depth: 3765.667594 meters looking forward 100.000000 meters along route # Maximum depth: 3780.201616 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3715.667594 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.978886; longitude = -108.855921; duration = 437; initialDepth = 3727.394737; finalDepth = 3715.667594; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3715.667594 # Seafloor depth: -3765.667594 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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 41 # Segment length 144.431617 meters # Minimum depth: 3777.394737 meters looking forward 100.000000 meters along route # Maximum depth: 3780.565796 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3727.394737 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.978560; longitude = -108.854906; duration = 577; # abortOnTimeout = True; initialDepth = 3704.349151; finalDepth = 3727.394737; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.1710589999998 # Actual altitude: 53.1710589999998 # Commanded vehicle depth: 3727.394737 # Seafloor depth: -3780.565796 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.95; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 40 # Segment length 113.066401 meters # Minimum depth: 3754.349151 meters looking forward 100.000000 meters along route # Maximum depth: 3777.002869 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3704.349151 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.977326; longitude = -108.855364; duration = 452; # abortOnTimeout = True; initialDepth = 3680.066951; finalDepth = 3704.349151; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.653718 # Actual altitude: 72.653718 # Commanded vehicle depth: 3704.349151 # Seafloor depth: -3777.002869 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 108.893491 meters # Minimum depth: 3730.066951 meters looking forward 100.000000 meters along route # Maximum depth: 3750.899600 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3680.066951 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.977663; longitude = -108.856412; duration = 435; initialDepth = 3679.303181; finalDepth = 3680.066951; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.653718 # Actual altitude: 72.653718 # Commanded vehicle depth: 3680.066951 # Seafloor depth: -3750.899600 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 103.055373 meters # Minimum depth: 3729.303181 meters looking forward 100.000000 meters along route # Maximum depth: 3730.026463 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3679.303181 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.977988; longitude = -108.857422; duration = 412; initialDepth = 3679.025391; finalDepth = 3679.303181; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.8326490000004 # Actual altitude: 70.8326490000004 # Commanded vehicle depth: 3679.303181 # Seafloor depth: -3729.942259 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 108.788273 meters # Minimum depth: 3729.025391 meters looking forward 100.000000 meters along route # Maximum depth: 3730.033830 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3679.025391 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.978296; longitude = -108.858378; duration = 435; initialDepth = 3679.376461; finalDepth = 3679.025391; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0050529999999 # Actual altitude: 51.0050529999999 # Commanded vehicle depth: 3679.025391 # Seafloor depth: -3730.030444 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 103.159441 meters # Minimum depth: 3729.376461 meters looking forward 100.000000 meters along route # Maximum depth: 3731.114857 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3679.376461 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.978620; longitude = -108.859386; duration = 412; initialDepth = 3679.509117; finalDepth = 3679.376461; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0050529999999 # Actual altitude: 51.0050529999999 # Commanded vehicle depth: 3679.376461 # Seafloor depth: -3729.376461 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 108.683057 meters # Minimum depth: 3729.509117 meters looking forward 100.000000 meters along route # Maximum depth: 3730.635228 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3679.509117 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.978928; longitude = -108.860343; duration = 434; initialDepth = 3680.710048; finalDepth = 3679.509117; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.126111 # Actual altitude: 51.126111 # Commanded vehicle depth: 3679.509117 # Seafloor depth: -3730.635228 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 103.263509 meters # Minimum depth: 3730.710048 meters looking forward 100.000000 meters along route # Maximum depth: 3731.626144 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3680.710048 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.979252; longitude = -108.861351; duration = 413; initialDepth = 3681.406138; finalDepth = 3680.710048; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.126111 # Actual altitude: 51.126111 # Commanded vehicle depth: 3680.710048 # Seafloor depth: -3730.710048 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 108.577841 meters # Minimum depth: 3731.406138 meters looking forward 100.000000 meters along route # Maximum depth: 3733.639050 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3681.406138 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.979560; longitude = -108.862308; duration = 434; initialDepth = 3682.879910; finalDepth = 3681.406138; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3681.406138 # Seafloor depth: -3731.406138 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 103.367576 meters # Minimum depth: 3732.879910 meters looking forward 100.000000 meters along route # Maximum depth: 3733.781379 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3682.879910 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.979884; longitude = -108.863315; duration = 413; initialDepth = 3679.039842; finalDepth = 3682.879910; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7732249999999 # Actual altitude: 50.7732249999999 # Commanded vehicle depth: 3682.87991 # Seafloor depth: -3733.653135 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 108.472626 meters # Minimum depth: 3729.039842 meters looking forward 100.000000 meters along route # Maximum depth: 3732.709186 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3679.039842 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.980193; longitude = -108.864273; duration = 433; initialDepth = 3666.322701; finalDepth = 3679.039842; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6693439999999 # Actual altitude: 53.6693439999999 # Commanded vehicle depth: 3679.039842 # Seafloor depth: -3732.709186 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 103.471643 meters # Minimum depth: 3716.322701 meters looking forward 100.000000 meters along route # Maximum depth: 3728.898552 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3666.322701 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.980516; longitude = -108.865279; duration = 413; initialDepth = 3633.044619; finalDepth = 3666.322701; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.5758510000001 # Actual altitude: 62.5758510000001 # Commanded vehicle depth: 3666.322701 # Seafloor depth: -3728.898552 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 18.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 108.367413 meters # Minimum depth: 3683.044619 meters looking forward 100.000000 meters along route # Maximum depth: 3713.428917 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3633.044619 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.980825; longitude = -108.866239; duration = 433; initialDepth = 3631.026677; finalDepth = 3633.044619; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.3842980000004 # Actual altitude: 80.3842980000004 # Commanded vehicle depth: 3633.044619 # Seafloor depth: -3713.428917 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 103.575707 meters # Minimum depth: 3681.026677 meters looking forward 100.000000 meters along route # Maximum depth: 3686.786145 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3631.026677 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.981148; longitude = -108.867243; duration = 414; initialDepth = 3615.539061; finalDepth = 3631.026677; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.3842980000004 # Actual altitude: 80.3842980000004 # Commanded vehicle depth: 3631.026677 # Seafloor depth: -3682.770363 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 108.262201 meters # Minimum depth: 3665.539061 meters looking forward 100.000000 meters along route # Maximum depth: 3688.650193 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3615.539061 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.981457; longitude = -108.868204; duration = 433; initialDepth = 3552.591558; finalDepth = 3615.539061; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.0551310000001 # Actual altitude: 72.0551310000001 # Commanded vehicle depth: 3615.539061 # Seafloor depth: -3687.594192 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 103.679771 meters # Minimum depth: 3602.591558 meters looking forward 100.000000 meters along route # Maximum depth: 3664.101173 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3552.591558 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.981780; longitude = -108.869208; duration = 414; initialDepth = 3513.440122; finalDepth = 3552.591558; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 111.509615 # Actual altitude: 100 # Commanded vehicle depth: 3552.591558 # Seafloor depth: -3664.101173 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 108.156991 meters # Minimum depth: 3563.440122 meters looking forward 100.000000 meters along route # Maximum depth: 3596.379518 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3513.440122 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.982090; longitude = -108.870169; duration = 432; initialDepth = 3508.694192; finalDepth = 3513.440122; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 111.509615 # Actual altitude: 100 # Commanded vehicle depth: 3513.440122 # Seafloor depth: -3596.379518 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 103.783834 meters # Minimum depth: 3558.694192 meters looking forward 100.000000 meters along route # Maximum depth: 3563.330388 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3508.694192 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.982412; longitude = -108.871172; duration = 415; initialDepth = 3495.448382; finalDepth = 3508.694192; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.9393960000002 # Actual altitude: 82.9393960000002 # Commanded vehicle depth: 3508.694192 # Seafloor depth: -3563.330388 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 108.051781 meters # Minimum depth: 3545.448382 meters looking forward 100.000000 meters along route # Maximum depth: 3558.059587 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3495.448382 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.982722; longitude = -108.872134; duration = 432; initialDepth = 3475.461602; finalDepth = 3495.448382; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.6112050000002 # Actual altitude: 62.6112050000002 # Commanded vehicle depth: 3495.448382 # Seafloor depth: -3558.059587 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 18.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 103.887895 meters # Minimum depth: 3525.461602 meters looking forward 100.000000 meters along route # Maximum depth: 3544.946827 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3475.461602 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.983044; longitude = -108.873136; duration = 415; initialDepth = 3466.650722; finalDepth = 3475.461602; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.4852250000004 # Actual altitude: 69.4852250000004 # Commanded vehicle depth: 3475.461602 # Seafloor depth: -3544.946827 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 107.946573 meters # Minimum depth: 3516.650722 meters looking forward 100.000000 meters along route # Maximum depth: 3524.328898 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3466.650722 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.983354; longitude = -108.874100; duration = 431; initialDepth = 3458.313202; finalDepth = 3466.650722; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.4852250000004 # Actual altitude: 69.4852250000004 # Commanded vehicle depth: 3466.650722 # Seafloor depth: -3524.328898 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 103.991957 meters # Minimum depth: 3508.313202 meters looking forward 100.000000 meters along route # Maximum depth: 3516.508758 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3458.313202 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.983676; longitude = -108.875101; duration = 415; initialDepth = 3449.137516; finalDepth = 3458.313202; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.1955560000001 # Actual altitude: 58.1955560000001 # Commanded vehicle depth: 3458.313202 # Seafloor depth: -3516.508758 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 107.841365 meters # Minimum depth: 3499.137516 meters looking forward 100.000000 meters along route # Maximum depth: 3507.299028 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3449.137516 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.983987; longitude = -108.876065; duration = 431; initialDepth = 3445.712448; finalDepth = 3449.137516; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.1955560000001 # Actual altitude: 58.1955560000001 # Commanded vehicle depth: 3449.137516 # Seafloor depth: -3507.299028 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 104.096017 meters # Minimum depth: 3495.712448 meters looking forward 100.000000 meters along route # Maximum depth: 3499.003495 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3445.712448 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.984308; longitude = -108.877065; duration = 416; initialDepth = 3445.614145; finalDepth = 3445.712448; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.1615120000001 # Actual altitude: 58.1615120000001 # Commanded vehicle depth: 3445.712448 # Seafloor depth: -3499.003495 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 107.736159 meters # Minimum depth: 3495.614145 meters looking forward 100.000000 meters along route # Maximum depth: 3495.799078 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3445.614145 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.984619; longitude = -108.878030; duration = 430; initialDepth = 3438.352243; finalDepth = 3445.614145; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2910469999997 # Actual altitude: 53.2910469999997 # Commanded vehicle depth: 3445.614145 # Seafloor depth: -3495.654485 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 104.200075 meters # Minimum depth: 3488.352243 meters looking forward 100.000000 meters along route # Maximum depth: 3495.768461 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3438.352243 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.984940; longitude = -108.879029; duration = 416; initialDepth = 3434.907925; finalDepth = 3438.352243; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.4162180000003 # Actual altitude: 57.4162180000003 # Commanded vehicle depth: 3438.352243 # Seafloor depth: -3495.768461 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 107.630955 meters # Minimum depth: 3484.907925 meters looking forward 100.000000 meters along route # Maximum depth: 3487.392698 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3434.907925 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.985251; longitude = -108.879995; duration = 430; initialDepth = 3433.286626; finalDepth = 3434.907925; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.4162180000003 # Actual altitude: 57.4162180000003 # Commanded vehicle depth: 3434.907925 # Seafloor depth: -3487.392698 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 100.785359 meters # Minimum depth: 3483.286626 meters looking forward 100.000000 meters along route # Maximum depth: 3484.863533 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3433.286626 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.985572; longitude = -108.880993; duration = 403; initialDepth = 3432.938910; finalDepth = 3433.286626; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.4847730000001 # Actual altitude: 52.4847730000001 # Commanded vehicle depth: 3433.286626 # Seafloor depth: -3484.863533 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.75; 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 39 # Segment length 166.582595 meters # Minimum depth: 3482.938910 meters looking forward 100.000000 meters along route # Maximum depth: 3484.013890 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3432.938910 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.985873; longitude = -108.881928; duration = 666; # abortOnTimeout = True; initialDepth = 3433.331970; finalDepth = 3432.938910; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.5769070000001 # Actual altitude: 51.5769070000001 # Commanded vehicle depth: 3432.93891 # Seafloor depth: -3483.183838 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 38 # Segment length 143.444075 meters # Minimum depth: 3483.331970 meters looking forward 100.000000 meters along route # Maximum depth: 3485.829052 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3433.331970 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.984459; longitude = -108.882485; duration = 573; # abortOnTimeout = True; initialDepth = 3434.524156; finalDepth = 3433.331970; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2449280000001 # Actual altitude: 50.2449280000001 # Commanded vehicle depth: 3433.33197 # Seafloor depth: -3483.331970 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 103.400530 meters # Minimum depth: 3484.524156 meters looking forward 100.000000 meters along route # Maximum depth: 3486.523802 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3434.524156 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.984037; longitude = -108.881152; duration = 413; initialDepth = 3437.256676; finalDepth = 3434.524156; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8976280000002 # Actual altitude: 50.8976280000002 # Commanded vehicle depth: 3434.524156 # Seafloor depth: -3485.421784 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 105.776990 meters # Minimum depth: 3487.256676 meters looking forward 100.000000 meters along route # Maximum depth: 3489.530323 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3437.256676 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.983734; longitude = -108.880192; duration = 423; initialDepth = 3439.338871; finalDepth = 3437.256676; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8976280000002 # Actual altitude: 50.8976280000002 # Commanded vehicle depth: 3437.256676 # Seafloor depth: -3487.256676 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 105.777273 meters # Minimum depth: 3489.338871 meters looking forward 100.000000 meters along route # Maximum depth: 3490.287797 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3439.338871 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.983423; longitude = -108.879209; duration = 423; initialDepth = 3440.435925; finalDepth = 3439.338871; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3439.338871 # Seafloor depth: -3489.338871 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 105.777557 meters # Minimum depth: 3490.435925 meters looking forward 100.000000 meters along route # Maximum depth: 3497.697243 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3440.435925 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.983112; longitude = -108.878227; duration = 423; initialDepth = 3448.967823; finalDepth = 3440.435925; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3440.435925 # Seafloor depth: -3490.435925 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 105.777839 meters # Minimum depth: 3498.967823 meters looking forward 100.000000 meters along route # Maximum depth: 3509.636982 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3448.967823 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.982801; longitude = -108.877244; duration = 423; initialDepth = 3459.953263; finalDepth = 3448.967823; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3448.967823 # Seafloor depth: -3498.967823 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 105.778123 meters # Minimum depth: 3509.953263 meters looking forward 100.000000 meters along route # Maximum depth: 3514.318041 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3459.953263 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.982490; longitude = -108.876261; duration = 423; initialDepth = 3464.880879; finalDepth = 3459.953263; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3459.953263 # Seafloor depth: -3509.953263 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 105.778406 meters # Minimum depth: 3514.880879 meters looking forward 100.000000 meters along route # Maximum depth: 3521.266333 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3464.880879 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.982179; longitude = -108.875279; duration = 423; initialDepth = 3471.350921; finalDepth = 3464.880879; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3464.880879 # Seafloor depth: -3514.880879 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 105.778689 meters # Minimum depth: 3521.350921 meters looking forward 100.000000 meters along route # Maximum depth: 3546.921632 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3471.350921 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.981868; longitude = -108.874296; duration = 423; initialDepth = 3499.694235; finalDepth = 3471.350921; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3471.350921 # Seafloor depth: -3521.350921 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 108.503042 meters # Minimum depth: 3550.153490 meters looking forward 100.000000 meters along route # Maximum depth: 3567.046524 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3499.694235 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.981557; longitude = -108.873314; duration = 434; initialDepth = 3517.248662; finalDepth = 3499.694235; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4592552123313 # Actual altitude: 50.4592552123313 # Commanded vehicle depth: 3499.69423478767 # Seafloor depth: -3550.153490 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 103.055187 meters # Minimum depth: 3567.248662 meters looking forward 100.000000 meters along route # Maximum depth: 3573.928596 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3517.248662 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.981239; longitude = -108.872306; duration = 412; initialDepth = 3524.487862; finalDepth = 3517.248662; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4592552123313 # Actual altitude: 50.4592552123313 # Commanded vehicle depth: 3517.248662 # Seafloor depth: -3567.248662 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 105.779540 meters # Minimum depth: 3574.487862 meters looking forward 100.000000 meters along route # Maximum depth: 3587.180257 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3524.487862 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.980936; longitude = -108.871348; duration = 423; initialDepth = 3540.553805; finalDepth = 3524.487862; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3524.487862 # Seafloor depth: -3574.487862 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 105.779823 meters # Minimum depth: 3590.553805 meters looking forward 100.000000 meters along route # Maximum depth: 3662.138496 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3540.553805 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.980625; longitude = -108.870366; duration = 423; initialDepth = 3568.897423; finalDepth = 3540.553805; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3540.553805 # Seafloor depth: -3590.553805 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 105.780106 meters # Minimum depth: 3668.124610 meters looking forward 100.000000 meters along route # Maximum depth: 3699.971523 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3568.897423 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.980314; longitude = -108.869383; duration = 423; initialDepth = 3597.241116; finalDepth = 3568.897423; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 99.227187357953 # Actual altitude: 99.227187357953 # Commanded vehicle depth: 3568.89742264205 # Seafloor depth: -3668.124610 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 105.780390 meters # Minimum depth: 3694.272350 meters looking forward 100.000000 meters along route # Maximum depth: 3699.109089 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3597.241116 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.980003; longitude = -108.868400; duration = 423; initialDepth = 3625.584886; finalDepth = 3597.241116; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 101.867972886286 # Actual altitude: 100 # Commanded vehicle depth: 3597.24111611371 # Seafloor depth: -3699.109089 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 105.780674 meters # Minimum depth: 3697.268366 meters looking forward 100.000000 meters along route # Maximum depth: 3720.043928 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3625.584886 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.979692; longitude = -108.867418; duration = 423; initialDepth = 3653.928731; finalDepth = 3625.584886; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 101.867972886286 # Actual altitude: 100 # Commanded vehicle depth: 3625.58488568295 # Seafloor depth: -3697.268366 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 105.780957 meters # Minimum depth: 3721.617996 meters looking forward 100.000000 meters along route # Maximum depth: 3726.231618 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3653.928731 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.979381; longitude = -108.866435; duration = 423; initialDepth = 3676.238748; finalDepth = 3653.928731; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.6834803170486 # Actual altitude: 71.6834803170486 # Commanded vehicle depth: 3653.92873134976 # Seafloor depth: -3721.617996 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 105.781240 meters # Minimum depth: 3726.238748 meters looking forward 100.000000 meters along route # Maximum depth: 3728.299917 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3676.238748 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.979070; longitude = -108.865453; duration = 423; initialDepth = 3677.577098; finalDepth = 3676.238748; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.689264650242 # Actual altitude: 67.689264650242 # Commanded vehicle depth: 3676.238748 # Seafloor depth: -3726.238748 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 108.853503 meters # Minimum depth: 3727.577098 meters looking forward 100.000000 meters along route # Maximum depth: 3728.475200 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3677.577098 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.978760; longitude = -108.864470; duration = 435; initialDepth = 3677.472312; finalDepth = 3677.577098; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8242429999996 # Actual altitude: 50.8242429999996 # Commanded vehicle depth: 3677.577098 # Seafloor depth: -3728.401341 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 102.709829 meters # Minimum depth: 3727.472312 meters looking forward 100.000000 meters along route # Maximum depth: 3728.907109 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3677.472312 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.978440; longitude = -108.863459; duration = 410; initialDepth = 3678.930742; finalDepth = 3677.472312; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8242429999996 # Actual altitude: 50.8242429999996 # Commanded vehicle depth: 3677.472312 # Seafloor depth: -3727.568860 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 105.782091 meters # Minimum depth: 3728.930742 meters looking forward 100.000000 meters along route # Maximum depth: 3729.806988 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3678.930742 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.978138; longitude = -108.862505; duration = 423; initialDepth = 3676.267660; finalDepth = 3678.930742; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.288982 # Actual altitude: 50.288982 # Commanded vehicle depth: 3678.930742 # Seafloor depth: -3729.219724 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 105.782375 meters # Minimum depth: 3726.267660 meters looking forward 100.000000 meters along route # Maximum depth: 3728.624099 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3676.267660 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.977827; longitude = -108.861522; duration = 423; initialDepth = 3675.916481; finalDepth = 3676.267660; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3564390000001 # Actual altitude: 52.3564390000001 # Commanded vehicle depth: 3676.26766 # Seafloor depth: -3728.624099 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 105.782659 meters # Minimum depth: 3725.916481 meters looking forward 100.000000 meters along route # Maximum depth: 3726.178910 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3675.916481 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.977516; longitude = -108.860539; duration = 423; initialDepth = 3676.448476; finalDepth = 3675.916481; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3564390000001 # Actual altitude: 52.3564390000001 # Commanded vehicle depth: 3675.916481 # Seafloor depth: -3726.178910 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 105.782942 meters # Minimum depth: 3726.448476 meters looking forward 100.000000 meters along route # Maximum depth: 3730.948770 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3676.448476 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.977205; longitude = -108.859557; duration = 423; initialDepth = 3681.012494; finalDepth = 3676.448476; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2624289999999 # Actual altitude: 50.2624289999999 # Commanded vehicle depth: 3676.448476 # Seafloor depth: -3726.448476 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 105.783226 meters # Minimum depth: 3731.012494 meters looking forward 100.000000 meters along route # Maximum depth: 3734.862819 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3681.012494 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.976894; longitude = -108.858574; duration = 423; initialDepth = 3686.428639; finalDepth = 3681.012494; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3681.012494 # Seafloor depth: -3731.012494 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 105.783510 meters # Minimum depth: 3736.428639 meters looking forward 100.000000 meters along route # Maximum depth: 3757.064910 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3686.428639 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.976583; longitude = -108.857592; duration = 423; initialDepth = 3707.076036; finalDepth = 3686.428639; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3686.428639 # Seafloor depth: -3736.428639 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 102.261275 meters # Minimum depth: 3757.076036 meters looking forward 100.000000 meters along route # Maximum depth: 3767.251027 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3707.076036 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.976273; longitude = -108.856609; duration = 409; initialDepth = 3701.567057; finalDepth = 3707.076036; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3707.076036 # Seafloor depth: -3757.076036 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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 37 # Segment length 158.206970 meters # Minimum depth: 3751.567057 meters looking forward 100.000000 meters along route # Maximum depth: 3767.480896 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3701.567057 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.975972; longitude = -108.855659; duration = 632; # abortOnTimeout = True; initialDepth = 3694.319455; finalDepth = 3701.567057; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 65.9138389999998 # Actual altitude: 65.9138389999998 # Commanded vehicle depth: 3701.567057 # Seafloor depth: -3767.480896 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 19.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 36 # Segment length 102.359631 meters # Minimum depth: 3744.319455 meters looking forward 100.000000 meters along route # Maximum depth: 3751.158409 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3694.319455 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.974617; longitude = -108.856150; duration = 409; # abortOnTimeout = True; initialDepth = 3680.620909; finalDepth = 3694.319455; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.9138389999998 # Actual altitude: 65.9138389999998 # Commanded vehicle depth: 3694.319455 # Seafloor depth: -3751.129700 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 19.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 105.771301 meters # Minimum depth: 3730.620909 meters looking forward 100.000000 meters along route # Maximum depth: 3744.314614 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3680.620909 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.974918; longitude = -108.857101; duration = 423; initialDepth = 3668.682496; finalDepth = 3680.620909; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.6937049999997 # Actual altitude: 63.6937049999997 # Commanded vehicle depth: 3680.620909 # Seafloor depth: -3744.314614 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 19.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 108.848494 meters # Minimum depth: 3718.682496 meters looking forward 100.000000 meters along route # Maximum depth: 3729.116937 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3668.682496 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.975230; longitude = -108.858083; duration = 435; initialDepth = 3659.813005; finalDepth = 3668.682496; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.6937049999997 # Actual altitude: 63.6937049999997 # Commanded vehicle depth: 3668.682496 # Seafloor depth: -3729.116937 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 19.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 102.771058 meters # Minimum depth: 3709.813005 meters looking forward 100.000000 meters along route # Maximum depth: 3718.359628 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3659.813005 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.975550; longitude = -108.859094; duration = 411; initialDepth = 3659.137546; finalDepth = 3659.813005; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.4344409999999 # Actual altitude: 60.4344409999999 # Commanded vehicle depth: 3659.813005 # Seafloor depth: -3718.359628 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 18.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 105.809350 meters # Minimum depth: 3709.137546 meters looking forward 100.000000 meters along route # Maximum depth: 3714.504211 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3659.137546 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.975853; longitude = -108.860048; duration = 423; initialDepth = 3665.459202; finalDepth = 3659.137546; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.5466230000002 # Actual altitude: 58.5466230000002 # Commanded vehicle depth: 3659.137546 # Seafloor depth: -3709.399203 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 105.809066 meters # Minimum depth: 3715.459202 meters looking forward 100.000000 meters along route # Maximum depth: 3721.403951 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3665.459202 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.976165; longitude = -108.861031; duration = 423; initialDepth = 3671.824578; finalDepth = 3665.459202; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.261657 # Actual altitude: 50.261657 # Commanded vehicle depth: 3665.459202 # Seafloor depth: -3715.459202 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 105.808782 meters # Minimum depth: 3721.824578 meters looking forward 100.000000 meters along route # Maximum depth: 3724.685910 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3671.824578 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.976476; longitude = -108.862013; duration = 423; initialDepth = 3674.578584; finalDepth = 3671.824578; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3671.824578 # Seafloor depth: -3721.824578 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 101.016380 meters # Minimum depth: 3724.578584 meters looking forward 100.000000 meters along route # Maximum depth: 3725.497129 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3674.578584 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.976788; longitude = -108.862996; duration = 404; initialDepth = 3672.638570; finalDepth = 3674.578584; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3297299999999 # Actual altitude: 50.3297299999999 # Commanded vehicle depth: 3674.578584 # Seafloor depth: -3724.908314 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.019522 meters # Minimum depth: 3722.638570 meters looking forward 100.000000 meters along route # Maximum depth: 3724.407796 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3672.638570 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.977085; longitude = -108.863934; duration = 400; initialDepth = 3670.935797; finalDepth = 3672.638570; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7692259999999 # Actual altitude: 51.7692259999999 # Commanded vehicle depth: 3672.63857 # Seafloor depth: -3724.407796 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 105.807958 meters # Minimum depth: 3720.935797 meters looking forward 100.000000 meters along route # Maximum depth: 3722.597940 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3670.935797 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.977380; longitude = -108.864863; duration = 423; initialDepth = 3669.368265; finalDepth = 3670.935797; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7692259999999 # Actual altitude: 51.7692259999999 # Commanded vehicle depth: 3670.935797 # Seafloor depth: -3722.597940 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.766145 meters # Minimum depth: 3719.368265 meters looking forward 100.000000 meters along route # Maximum depth: 3721.269578 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3669.368265 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.977691; longitude = -108.865846; duration = 403; initialDepth = 3656.903846; finalDepth = 3669.368265; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.662143 # Actual altitude: 51.662143 # Commanded vehicle depth: 3669.368265 # Seafloor depth: -3721.023745 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.268193 meters # Minimum depth: 3706.903846 meters looking forward 100.000000 meters along route # Maximum depth: 3718.756874 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3656.903846 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.977988; longitude = -108.866781; duration = 401; initialDepth = 3655.550297; finalDepth = 3656.903846; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.853028 # Actual altitude: 61.853028 # Commanded vehicle depth: 3656.903846 # Seafloor depth: -3718.756874 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 18.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 105.807134 meters # Minimum depth: 3705.550297 meters looking forward 100.000000 meters along route # Maximum depth: 3708.085339 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3655.550297 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.978283; longitude = -108.867713; duration = 423; initialDepth = 3606.828032; finalDepth = 3655.550297; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.853028 # Actual altitude: 61.853028 # Commanded vehicle depth: 3655.550297 # Seafloor depth: -3706.235415 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 18.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.515913 meters # Minimum depth: 3656.828032 meters looking forward 100.000000 meters along route # Maximum depth: 3707.858824 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3606.828032 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.978595; longitude = -108.868695; duration = 402; initialDepth = 3538.261739; finalDepth = 3606.828032; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 101.030792 # Actual altitude: 100 # Commanded vehicle depth: 3606.828032 # Seafloor depth: -3707.858824 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.516861 meters # Minimum depth: 3588.261739 meters looking forward 100.000000 meters along route # Maximum depth: 3651.176057 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3538.261739 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.978891; longitude = -108.869629; duration = 402; initialDepth = 3526.599377; finalDepth = 3538.261739; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 112.914318 # Actual altitude: 100 # Commanded vehicle depth: 3538.261739 # Seafloor depth: -3651.176057 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 105.806311 meters # Minimum depth: 3576.599377 meters looking forward 100.000000 meters along route # Maximum depth: 3586.221282 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3526.599377 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.979187; longitude = -108.870562; duration = 423; initialDepth = 3521.143056; finalDepth = 3526.599377; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 112.914318 # Actual altitude: 100 # Commanded vehicle depth: 3526.599377 # Seafloor depth: -3586.221282 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.265684 meters # Minimum depth: 3571.143056 meters looking forward 100.000000 meters along route # Maximum depth: 3575.946266 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3521.143056 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.979499; longitude = -108.871545; duration = 401; initialDepth = 3518.411949; finalDepth = 3521.143056; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.621905 # Actual altitude: 59.621905 # Commanded vehicle depth: 3521.143056 # Seafloor depth: -3575.946266 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.765525 meters # Minimum depth: 3568.411949 meters looking forward 100.000000 meters along route # Maximum depth: 3570.966550 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3518.411949 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.979794; longitude = -108.872476; duration = 403; initialDepth = 3490.713413; finalDepth = 3518.411949; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.80321 # Actual altitude: 54.80321 # Commanded vehicle depth: 3518.411949 # Seafloor depth: -3570.966550 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 105.805488 meters # Minimum depth: 3540.713413 meters looking forward 100.000000 meters along route # Maximum depth: 3567.638910 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3490.713413 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.980091; longitude = -108.873412; duration = 423; initialDepth = 3474.919388; finalDepth = 3490.713413; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.9254970000002 # Actual altitude: 76.9254970000002 # Commanded vehicle depth: 3490.713413 # Seafloor depth: -3567.638910 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.015461 meters # Minimum depth: 3524.919388 meters looking forward 100.000000 meters along route # Maximum depth: 3537.131494 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3474.919388 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.980402; longitude = -108.874394; duration = 400; initialDepth = 3468.359933; finalDepth = 3474.919388; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.9254970000002 # Actual altitude: 76.9254970000002 # Commanded vehicle depth: 3474.919388 # Seafloor depth: -3537.131494 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 101.014184 meters # Minimum depth: 3518.359933 meters looking forward 100.000000 meters along route # Maximum depth: 3524.872359 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3468.359933 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.980697; longitude = -108.875323; duration = 404; initialDepth = 3455.897672; finalDepth = 3468.359933; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.2121060000004 # Actual altitude: 62.2121060000004 # Commanded vehicle depth: 3468.359933 # Seafloor depth: -3524.872359 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 18.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 105.804665 meters # Minimum depth: 3505.897672 meters looking forward 100.000000 meters along route # Maximum depth: 3517.283588 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3455.897672 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.980994; longitude = -108.876261; duration = 423; initialDepth = 3444.581964; finalDepth = 3455.897672; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.3859159999997 # Actual altitude: 61.3859159999997 # Commanded vehicle depth: 3455.897672 # Seafloor depth: -3517.283588 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 18.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 105.804381 meters # Minimum depth: 3494.581964 meters looking forward 100.000000 meters along route # Maximum depth: 3504.788042 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3444.581964 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.981306; longitude = -108.877244; duration = 423; initialDepth = 3439.207781; finalDepth = 3444.581964; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.3859159999997 # Actual altitude: 61.3859159999997 # Commanded vehicle depth: 3444.581964 # Seafloor depth: -3504.788042 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 18.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 105.804098 meters # Minimum depth: 3489.207781 meters looking forward 100.000000 meters along route # Maximum depth: 3494.072107 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3439.207781 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.981617; longitude = -108.878227; duration = 423; initialDepth = 3430.830581; finalDepth = 3439.207781; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.2060780000002 # Actual altitude: 60.2060780000002 # Commanded vehicle depth: 3439.207781 # Seafloor depth: -3494.072107 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 18.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 105.803813 meters # Minimum depth: 3480.830581 meters looking forward 100.000000 meters along route # Maximum depth: 3488.716963 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3430.830581 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.981929; longitude = -108.879209; duration = 423; initialDepth = 3430.329843; finalDepth = 3430.830581; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.8863819999997 # Actual altitude: 57.8863819999997 # Commanded vehicle depth: 3430.830581 # Seafloor depth: -3488.716963 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 105.803531 meters # Minimum depth: 3480.329843 meters looking forward 100.000000 meters along route # Maximum depth: 3481.211252 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3430.329843 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.982241; longitude = -108.880192; duration = 423; initialDepth = 3428.404630; finalDepth = 3430.329843; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.8863819999997 # Actual altitude: 57.8863819999997 # Commanded vehicle depth: 3430.329843 # Seafloor depth: -3480.705275 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 105.803246 meters # Minimum depth: 3478.404630 meters looking forward 100.000000 meters along route # Maximum depth: 3480.686760 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3428.404630 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.982552; longitude = -108.881175; duration = 423; initialDepth = 3428.653484; finalDepth = 3428.404630; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2821300000001 # Actual altitude: 52.2821300000001 # Commanded vehicle depth: 3428.40463 # Seafloor depth: -3480.686760 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 102.273499 meters # Minimum depth: 3478.653484 meters looking forward 100.000000 meters along route # Maximum depth: 3479.183586 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3428.653484 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.982864; longitude = -108.882157; duration = 409; initialDepth = 3423.752873; finalDepth = 3428.653484; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.2821300000001 # Actual altitude: 52.2821300000001 # Commanded vehicle depth: 3428.653484 # Seafloor depth: -3478.947338 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 35 # Segment length 144.461818 meters # Minimum depth: 3473.752873 meters looking forward 100.000000 meters along route # Maximum depth: 3478.618469 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3423.752873 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.983165; longitude = -108.883107; duration = 577; # abortOnTimeout = True; initialDepth = 3423.168967; finalDepth = 3423.752873; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.8655960000001 # Actual altitude: 54.8655960000001 # Commanded vehicle depth: 3423.752873 # Seafloor depth: -3478.618469 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 34 # Segment length 174.112066 meters # Minimum depth: 3473.168967 meters looking forward 100.000000 meters along route # Maximum depth: 3474.846993 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3423.168967 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.981931; longitude = -108.883566; duration = 696; # abortOnTimeout = True; initialDepth = 3421.856224; finalDepth = 3423.168967; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8655960000001 # Actual altitude: 54.8655960000001 # Commanded vehicle depth: 3423.168967 # Seafloor depth: -3473.699829 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 104.495393 meters # Minimum depth: 3471.856224 meters looking forward 100.000000 meters along route # Maximum depth: 3474.782248 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3421.856224 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.981419; longitude = -108.881949; duration = 417; initialDepth = 3422.323909; finalDepth = 3421.856224; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9260239999999 # Actual altitude: 52.9260239999999 # Commanded vehicle depth: 3421.856224 # Seafloor depth: -3474.782248 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 110.468356 meters # Minimum depth: 3472.323909 meters looking forward 100.000000 meters along route # Maximum depth: 3485.737638 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3422.323909 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.981112; longitude = -108.880978; duration = 441; initialDepth = 3436.155894; finalDepth = 3422.323909; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9260239999999 # Actual altitude: 52.9260239999999 # Commanded vehicle depth: 3422.323909 # Seafloor depth: -3472.323909 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 101.099500 meters # Minimum depth: 3486.155894 meters looking forward 100.000000 meters along route # Maximum depth: 3489.451945 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3436.155894 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.980787; longitude = -108.879952; duration = 404; initialDepth = 3439.745300; finalDepth = 3436.155894; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3436.155894 # Seafloor depth: -3486.155894 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 105.784353 meters # Minimum depth: 3489.745300 meters looking forward 100.000000 meters along route # Maximum depth: 3500.697035 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3439.745300 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.980490; longitude = -108.879013; duration = 423; initialDepth = 3452.411356; finalDepth = 3439.745300; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3439.7453 # Seafloor depth: -3489.745300 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 105.784636 meters # Minimum depth: 3502.411356 meters looking forward 100.000000 meters along route # Maximum depth: 3511.153983 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3452.411356 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.980179; longitude = -108.878030; duration = 423; initialDepth = 3461.500925; finalDepth = 3452.411356; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3452.411356 # Seafloor depth: -3502.411356 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 105.784919 meters # Minimum depth: 3511.500925 meters looking forward 100.000000 meters along route # Maximum depth: 3517.492289 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3461.500925 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.979868; longitude = -108.877048; duration = 423; initialDepth = 3467.978303; finalDepth = 3461.500925; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3461.500925 # Seafloor depth: -3511.500925 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 105.785203 meters # Minimum depth: 3517.978303 meters looking forward 100.000000 meters along route # Maximum depth: 3523.213489 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3467.978303 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.979557; longitude = -108.876065; duration = 423; initialDepth = 3473.548097; finalDepth = 3467.978303; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3467.978303 # Seafloor depth: -3517.978303 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 105.785486 meters # Minimum depth: 3523.548097 meters looking forward 100.000000 meters along route # Maximum depth: 3556.105253 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3473.548097 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.979246; longitude = -108.875082; duration = 423; initialDepth = 3501.893232; finalDepth = 3473.548097; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3473.548097 # Seafloor depth: -3523.548097 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 107.003353 meters # Minimum depth: 3559.258908 meters looking forward 100.000000 meters along route # Maximum depth: 3568.143599 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3501.893232 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.978935; longitude = -108.874100; duration = 428; initialDepth = 3518.158257; finalDepth = 3501.893232; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.3656759617047 # Actual altitude: 57.3656759617047 # Commanded vehicle depth: 3501.8932320383 # Seafloor depth: -3559.258908 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 104.568470 meters # Minimum depth: 3568.158257 meters looking forward 100.000000 meters along route # Maximum depth: 3574.392422 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3518.158257 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.978620; longitude = -108.873106; duration = 418; initialDepth = 3525.335704; finalDepth = 3518.158257; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.3656759617047 # Actual altitude: 57.3656759617047 # Commanded vehicle depth: 3518.158257 # Seafloor depth: -3568.158257 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 110.400461 meters # Minimum depth: 3575.335704 meters looking forward 100.000000 meters along route # Maximum depth: 3580.609849 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3525.335704 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.978313; longitude = -108.872134; duration = 441; initialDepth = 3530.971040; finalDepth = 3525.335704; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3525.335704 # Seafloor depth: -3575.335704 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 101.172495 meters # Minimum depth: 3580.971040 meters looking forward 100.000000 meters along route # Maximum depth: 3620.821129 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3530.971040 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.977988; longitude = -108.871109; duration = 404; initialDepth = 3558.080128; finalDepth = 3530.971040; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3530.97104 # Seafloor depth: -3580.971040 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 105.786904 meters # Minimum depth: 3629.557974 meters looking forward 100.000000 meters along route # Maximum depth: 3706.682318 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3558.080128 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.977691; longitude = -108.870169; duration = 423; initialDepth = 3586.425643; finalDepth = 3558.080128; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.4778461527653 # Actual altitude: 71.4778461527653 # Commanded vehicle depth: 3558.08012784723 # Seafloor depth: -3629.557974 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 105.787187 meters # Minimum depth: 3708.760808 meters looking forward 100.000000 meters along route # Maximum depth: 3712.549265 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3586.425643 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.977380; longitude = -108.869187; duration = 423; initialDepth = 3614.771234; finalDepth = 3586.425643; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 122.95204716252 # Actual altitude: 100 # Commanded vehicle depth: 3586.42564283748 # Seafloor depth: -3709.377690 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 105.787470 meters # Minimum depth: 3708.048688 meters looking forward 100.000000 meters along route # Maximum depth: 3713.921247 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3614.771234 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.977069; longitude = -108.868204; duration = 423; initialDepth = 3643.116900; finalDepth = 3614.771234; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 122.95204716252 # Actual altitude: 100 # Commanded vehicle depth: 3614.77123365735 # Seafloor depth: -3708.508860 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 105.787754 meters # Minimum depth: 3714.913746 meters looking forward 100.000000 meters along route # Maximum depth: 3717.072504 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3643.116900 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.976758; longitude = -108.867221; duration = 423; initialDepth = 3662.968608; finalDepth = 3643.116900; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 93.7376263426545 # Actual altitude: 93.7376263426545 # Commanded vehicle depth: 3643.11690030683 # Seafloor depth: -3714.913746 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 105.788038 meters # Minimum depth: 3712.968608 meters looking forward 100.000000 meters along route # Maximum depth: 3715.131231 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3662.968608 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.976447; longitude = -108.866239; duration = 423; initialDepth = 3663.697064; finalDepth = 3662.968608; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.7968456931703 # Actual altitude: 71.7968456931703 # Commanded vehicle depth: 3662.968608 # Seafloor depth: -3715.131231 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 106.935375 meters # Minimum depth: 3713.697064 meters looking forward 100.000000 meters along route # Maximum depth: 3718.618789 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3663.697064 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.976136; longitude = -108.865256; duration = 427; initialDepth = 3665.047968; finalDepth = 3663.697064; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1626229999997 # Actual altitude: 52.1626229999997 # Commanded vehicle depth: 3663.697064 # Seafloor depth: -3713.697064 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 104.641551 meters # Minimum depth: 3715.047968 meters looking forward 100.000000 meters along route # Maximum depth: 3718.884765 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3665.047968 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.975821; longitude = -108.864263; duration = 418; initialDepth = 3646.180711; finalDepth = 3665.047968; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.5899610000001 # Actual altitude: 53.5899610000001 # Commanded vehicle depth: 3665.047968 # Seafloor depth: -3718.637929 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 110.332566 meters # Minimum depth: 3696.180711 meters looking forward 100.000000 meters along route # Maximum depth: 3713.719395 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3646.180711 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.975514; longitude = -108.863291; duration = 441; initialDepth = 3632.125423; finalDepth = 3646.180711; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.5386840000001 # Actual altitude: 67.5386840000001 # Commanded vehicle depth: 3646.180711 # Seafloor depth: -3713.719395 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 101.245495 meters # Minimum depth: 3682.125423 meters looking forward 100.000000 meters along route # Maximum depth: 3695.368949 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3632.125423 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.975189; longitude = -108.862266; duration = 404; initialDepth = 3631.148455; finalDepth = 3632.125423; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.5386840000001 # Actual altitude: 67.5386840000001 # Commanded vehicle depth: 3632.125423 # Seafloor depth: -3695.368949 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 105.789457 meters # Minimum depth: 3681.148455 meters looking forward 100.000000 meters along route # Maximum depth: 3686.662196 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3631.148455 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.974892; longitude = -108.861326; duration = 423; initialDepth = 3637.985363; finalDepth = 3631.148455; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.2435260000002 # Actual altitude: 63.2435260000002 # Commanded vehicle depth: 3631.148455 # Seafloor depth: -3681.578750 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 18.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 105.789739 meters # Minimum depth: 3687.985363 meters looking forward 100.000000 meters along route # Maximum depth: 3697.171362 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3637.985363 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.974581; longitude = -108.860343; duration = 423; initialDepth = 3647.265186; finalDepth = 3637.985363; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4302950000001 # Actual altitude: 50.4302950000001 # Commanded vehicle depth: 3637.985363 # Seafloor depth: -3687.985363 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 105.790024 meters # Minimum depth: 3697.265186 meters looking forward 100.000000 meters along route # Maximum depth: 3703.440451 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3647.265186 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.974270; longitude = -108.859360; duration = 423; initialDepth = 3655.183500; finalDepth = 3647.265186; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3647.265186 # Seafloor depth: -3697.265186 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 105.790307 meters # Minimum depth: 3705.183500 meters looking forward 100.000000 meters along route # Maximum depth: 3727.954068 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3655.183500 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.973959; longitude = -108.858378; duration = 423; initialDepth = 3678.416091; finalDepth = 3655.183500; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3655.1835 # Seafloor depth: -3705.183500 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 102.924580 meters # Minimum depth: 3728.416091 meters looking forward 100.000000 meters along route # Maximum depth: 3741.435782 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3678.416091 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.973648; longitude = -108.857395; duration = 411; initialDepth = 3673.742239; finalDepth = 3678.416091; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3678.416091 # Seafloor depth: -3728.416091 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 33 # Segment length 149.902552 meters # Minimum depth: 3723.742239 meters looking forward 100.000000 meters along route # Maximum depth: 3741.820679 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3673.742239 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.973345; longitude = -108.856439; duration = 599; # abortOnTimeout = True; initialDepth = 3656.100091; finalDepth = 3673.742239; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 68.0784399999998 # Actual altitude: 68.0784399999998 # Commanded vehicle depth: 3673.742239 # Seafloor depth: -3741.820679 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 32 # Segment length 108.958000 meters # Minimum depth: 3706.100091 meters looking forward 100.000000 meters along route # Maximum depth: 3723.180725 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3656.100091 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.972067; longitude = -108.856923; duration = 435; # abortOnTimeout = True; initialDepth = 3639.517416; finalDepth = 3656.100091; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.0784399999998 # Actual altitude: 68.0784399999998 # Commanded vehicle depth: 3656.100091 # Seafloor depth: -3723.180725 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 100.785506 meters # Minimum depth: 3689.517416 meters looking forward 100.000000 meters along route # Maximum depth: 3705.181201 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3639.517416 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.972390; longitude = -108.857934; duration = 403; initialDepth = 3637.846622; finalDepth = 3639.517416; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.0806340000004 # Actual altitude: 67.0806340000004 # Commanded vehicle depth: 3639.517416 # Seafloor depth: -3705.181201 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 105.911890 meters # Minimum depth: 3687.846622 meters looking forward 100.000000 meters along route # Maximum depth: 3690.245158 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3637.846622 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.972690; longitude = -108.858869; duration = 423; initialDepth = 3640.744717; finalDepth = 3637.846622; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.6637849999997 # Actual altitude: 65.6637849999997 # Commanded vehicle depth: 3637.846622 # Seafloor depth: -3688.731721 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 19.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 105.911604 meters # Minimum depth: 3690.744717 meters looking forward 100.000000 meters along route # Maximum depth: 3692.609937 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3640.744717 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.973004; longitude = -108.859852; duration = 423; initialDepth = 3632.746979; finalDepth = 3640.744717; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8850990000001 # Actual altitude: 50.8850990000001 # Commanded vehicle depth: 3640.744717 # Seafloor depth: -3690.744717 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 105.911318 meters # Minimum depth: 3682.746979 meters looking forward 100.000000 meters along route # Maximum depth: 3691.108903 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3632.746979 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.973318; longitude = -108.860834; duration = 423; initialDepth = 3631.456516; finalDepth = 3632.746979; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.3619239999998 # Actual altitude: 58.3619239999998 # Commanded vehicle depth: 3632.746979 # Seafloor depth: -3691.108903 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 105.911033 meters # Minimum depth: 3681.456516 meters looking forward 100.000000 meters along route # Maximum depth: 3687.318585 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3631.456516 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.973633; longitude = -108.861817; duration = 423; initialDepth = 3638.403175; finalDepth = 3631.456516; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.3619239999998 # Actual altitude: 58.3619239999998 # Commanded vehicle depth: 3631.456516 # Seafloor depth: -3682.098986 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 105.910746 meters # Minimum depth: 3688.403175 meters looking forward 100.000000 meters along route # Maximum depth: 3700.664677 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3638.403175 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.973947; longitude = -108.862799; duration = 423; initialDepth = 3651.458469; finalDepth = 3638.403175; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6424699999998 # Actual altitude: 50.6424699999998 # Commanded vehicle depth: 3638.403175 # Seafloor depth: -3688.403175 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 105.910461 meters # Minimum depth: 3701.458469 meters looking forward 100.000000 meters along route # Maximum depth: 3703.444978 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3651.458469 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.974261; longitude = -108.863782; duration = 423; initialDepth = 3651.985807; finalDepth = 3651.458469; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3651.458469 # Seafloor depth: -3701.458469 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 105.910174 meters # Minimum depth: 3701.985807 meters looking forward 100.000000 meters along route # Maximum depth: 3703.031113 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3651.985807 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.974576; longitude = -108.864765; duration = 423; initialDepth = 3653.409050; finalDepth = 3651.985807; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.00936 # Actual altitude: 51.00936 # Commanded vehicle depth: 3651.985807 # Seafloor depth: -3702.995167 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.847671 meters # Minimum depth: 3703.409050 meters looking forward 100.000000 meters along route # Maximum depth: 3705.572493 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3653.409050 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.974890; longitude = -108.865747; duration = 403; initialDepth = 3651.254343; finalDepth = 3653.409050; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.00936 # Actual altitude: 51.00936 # Commanded vehicle depth: 3653.40905 # Seafloor depth: -3703.409050 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.380874 meters # Minimum depth: 3701.254343 meters looking forward 100.000000 meters along route # Maximum depth: 3704.886928 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3651.254343 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.975189; longitude = -108.866683; duration = 401; initialDepth = 3651.117334; finalDepth = 3651.254343; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6325849999998 # Actual altitude: 53.6325849999998 # Commanded vehicle depth: 3651.254343 # Seafloor depth: -3704.886928 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 105.909346 meters # Minimum depth: 3701.117334 meters looking forward 100.000000 meters along route # Maximum depth: 3706.546459 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3651.117334 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.975487; longitude = -108.867614; duration = 423; initialDepth = 3657.553769; finalDepth = 3651.117334; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6325849999998 # Actual altitude: 53.6325849999998 # Commanded vehicle depth: 3651.117334 # Seafloor depth: -3701.123899 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 105.909060 meters # Minimum depth: 3707.553769 meters looking forward 100.000000 meters along route # Maximum depth: 3710.728737 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3657.553769 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.975802; longitude = -108.868597; duration = 423; initialDepth = 3602.206525; finalDepth = 3657.553769; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0065650000001 # Actual altitude: 50.0065650000001 # Commanded vehicle depth: 3657.553769 # Seafloor depth: -3707.553769 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 105.908774 meters # Minimum depth: 3652.206525 meters looking forward 100.000000 meters along route # Maximum depth: 3706.135113 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3602.206525 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.976116; longitude = -108.869580; duration = 423; initialDepth = 3528.202525; finalDepth = 3602.206525; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 103.928588 # Actual altitude: 100 # Commanded vehicle depth: 3602.206525 # Seafloor depth: -3706.135113 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 105.908489 meters # Minimum depth: 3578.202525 meters looking forward 100.000000 meters along route # Maximum depth: 3642.506061 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3528.202525 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.976430; longitude = -108.870562; duration = 423; initialDepth = 3523.402737; finalDepth = 3528.202525; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 114.303536 # Actual altitude: 100 # Commanded vehicle depth: 3528.202525 # Seafloor depth: -3642.506061 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 105.908203 meters # Minimum depth: 3573.402737 meters looking forward 100.000000 meters along route # Maximum depth: 3576.873976 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3523.402737 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.976745; longitude = -108.871545; duration = 423; initialDepth = 3520.867586; finalDepth = 3523.402737; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 114.303536 # Actual altitude: 100 # Commanded vehicle depth: 3523.402737 # Seafloor depth: -3576.873976 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 100.132262 meters # Minimum depth: 3570.867586 meters looking forward 100.000000 meters along route # Maximum depth: 3573.313360 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3520.867586 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.977059; longitude = -108.872527; duration = 400; initialDepth = 3512.922474; finalDepth = 3520.867586; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.471239 # Actual altitude: 53.471239 # Commanded vehicle depth: 3520.867586 # Seafloor depth: -3573.313360 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 101.092537 meters # Minimum depth: 3562.922474 meters looking forward 100.000000 meters along route # Maximum depth: 3570.812043 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3512.922474 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.977356; longitude = -108.873456; duration = 404; initialDepth = 3479.768311; finalDepth = 3512.922474; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.8895689999999 # Actual altitude: 57.8895689999999 # Commanded vehicle depth: 3512.922474 # Seafloor depth: -3570.812043 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 105.907374 meters # Minimum depth: 3529.768311 meters looking forward 100.000000 meters along route # Maximum depth: 3560.243508 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3479.768311 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.977656; longitude = -108.874394; duration = 423; initialDepth = 3471.950083; finalDepth = 3479.768311; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.4751970000002 # Actual altitude: 80.4751970000002 # Commanded vehicle depth: 3479.768311 # Seafloor depth: -3560.243508 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 105.907089 meters # Minimum depth: 3521.950083 meters looking forward 100.000000 meters along route # Maximum depth: 3527.834774 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3471.950083 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.977971; longitude = -108.875377; duration = 423; initialDepth = 3462.439278; finalDepth = 3471.950083; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.4751970000002 # Actual altitude: 80.4751970000002 # Commanded vehicle depth: 3471.950083 # Seafloor depth: -3527.834774 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 105.906804 meters # Minimum depth: 3512.439278 meters looking forward 100.000000 meters along route # Maximum depth: 3521.472094 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3462.439278 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.978285; longitude = -108.876360; duration = 423; initialDepth = 3452.208067; finalDepth = 3462.439278; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.0328160000004 # Actual altitude: 59.0328160000004 # Commanded vehicle depth: 3462.439278 # Seafloor depth: -3521.472094 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 105.906518 meters # Minimum depth: 3502.208067 meters looking forward 100.000000 meters along route # Maximum depth: 3511.489604 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3452.208067 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.978599; longitude = -108.877342; duration = 423; initialDepth = 3438.008684; finalDepth = 3452.208067; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.2815369999998 # Actual altitude: 59.2815369999998 # Commanded vehicle depth: 3452.208067 # Seafloor depth: -3511.489604 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 105.906232 meters # Minimum depth: 3488.008684 meters looking forward 100.000000 meters along route # Maximum depth: 3501.028437 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3438.008684 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.978914; longitude = -108.878325; duration = 423; initialDepth = 3434.651377; finalDepth = 3438.008684; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.019753 # Actual altitude: 63.019753 # Commanded vehicle depth: 3438.008684 # Seafloor depth: -3501.028437 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 18.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 105.905947 meters # Minimum depth: 3484.651377 meters looking forward 100.000000 meters along route # Maximum depth: 3487.560185 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3434.651377 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.979228; longitude = -108.879308; duration = 423; initialDepth = 3426.913307; finalDepth = 3434.651377; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.019753 # Actual altitude: 63.019753 # Commanded vehicle depth: 3434.651377 # Seafloor depth: -3487.560185 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 18.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 105.905661 meters # Minimum depth: 3476.913307 meters looking forward 100.000000 meters along route # Maximum depth: 3484.250412 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3426.913307 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.979542; longitude = -108.880290; duration = 423; initialDepth = 3423.102395; finalDepth = 3426.913307; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.3371050000001 # Actual altitude: 57.3371050000001 # Commanded vehicle depth: 3426.913307 # Seafloor depth: -3484.250412 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.532052 meters # Minimum depth: 3473.102395 meters looking forward 100.000000 meters along route # Maximum depth: 3476.303714 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3423.102395 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.979857; longitude = -108.881273; duration = 402; initialDepth = 3420.272521; finalDepth = 3423.102395; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.3371050000001 # Actual altitude: 57.3371050000001 # Commanded vehicle depth: 3423.102395 # Seafloor depth: -3476.303714 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.687919 meters # Minimum depth: 3470.272521 meters looking forward 100.000000 meters along route # Maximum depth: 3473.179655 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3420.272521 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.980155; longitude = -108.882206; duration = 402; initialDepth = 3414.123102; finalDepth = 3420.272521; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2013190000002 # Actual altitude: 53.2013190000002 # Commanded vehicle depth: 3420.272521 # Seafloor depth: -3473.116854 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 104.460157 meters # Minimum depth: 3464.123102 meters looking forward 100.000000 meters along route # Maximum depth: 3469.495383 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3414.123102 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.980454; longitude = -108.883140; duration = 417; initialDepth = 3413.894897; finalDepth = 3414.123102; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.3722809999999 # Actual altitude: 55.3722809999999 # Commanded vehicle depth: 3414.123102 # Seafloor depth: -3469.495383 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.61; 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 149.932966 meters # Minimum depth: 3463.894897 meters looking forward 100.000000 meters along route # Maximum depth: 3467.256979 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3413.894897 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.980764; longitude = -108.884109; duration = 599; # abortOnTimeout = True; initialDepth = 3414.782532; finalDepth = 3413.894897; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.3722809999999 # Actual altitude: 55.3722809999999 # Commanded vehicle depth: 3413.894897 # Seafloor depth: -3463.894897 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.61; 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 109.173582 meters # Minimum depth: 3464.782532 meters looking forward 100.000000 meters along route # Maximum depth: 3467.835450 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3414.782532 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.979486; longitude = -108.884594; duration = 436; # abortOnTimeout = True; initialDepth = 3417.866733; finalDepth = 3414.782532; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3414.782532 # Seafloor depth: -3464.782532 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 100.515742 meters # Minimum depth: 3467.866733 meters looking forward 100.000000 meters along route # Maximum depth: 3470.092154 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3417.866733 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.979162; longitude = -108.883581; duration = 402; initialDepth = 3420.387311; finalDepth = 3417.866733; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3417.866733 # Seafloor depth: -3467.866733 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 105.907623 meters # Minimum depth: 3470.387311 meters looking forward 100.000000 meters along route # Maximum depth: 3471.164604 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3420.387311 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.978864; longitude = -108.882648; duration = 423; initialDepth = 3420.503574; finalDepth = 3420.387311; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3420.387311 # Seafloor depth: -3470.387311 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 105.907908 meters # Minimum depth: 3470.503574 meters looking forward 100.000000 meters along route # Maximum depth: 3478.255543 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3420.503574 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.978549; longitude = -108.881666; duration = 423; initialDepth = 3429.148520; finalDepth = 3420.503574; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3420.503574 # Seafloor depth: -3470.503574 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 105.908194 meters # Minimum depth: 3479.148520 meters looking forward 100.000000 meters along route # Maximum depth: 3485.051654 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3429.148520 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.978235; longitude = -108.880683; duration = 423; initialDepth = 3435.627182; finalDepth = 3429.148520; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3429.14852 # Seafloor depth: -3479.148520 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 105.908479 meters # Minimum depth: 3485.627182 meters looking forward 100.000000 meters along route # Maximum depth: 3497.307309 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3435.627182 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.977920; longitude = -108.879701; duration = 423; initialDepth = 3448.530952; finalDepth = 3435.627182; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3435.627182 # Seafloor depth: -3485.627182 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 105.908765 meters # Minimum depth: 3498.530952 meters looking forward 100.000000 meters along route # Maximum depth: 3512.919515 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3448.530952 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.977606; longitude = -108.878718; duration = 423; initialDepth = 3464.254375; finalDepth = 3448.530952; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3448.530952 # Seafloor depth: -3498.530952 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 105.909050 meters # Minimum depth: 3514.254375 meters looking forward 100.000000 meters along route # Maximum depth: 3523.194599 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3464.254375 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.977292; longitude = -108.877735; duration = 423; initialDepth = 3473.447166; finalDepth = 3464.254375; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3464.254375 # Seafloor depth: -3514.254375 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 105.909336 meters # Minimum depth: 3523.447166 meters looking forward 100.000000 meters along route # Maximum depth: 3525.375556 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3473.447166 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.976977; longitude = -108.876753; duration = 423; initialDepth = 3475.886012; finalDepth = 3473.447166; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3473.447166 # Seafloor depth: -3523.447166 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 101.004164 meters # Minimum depth: 3525.886012 meters looking forward 100.000000 meters along route # Maximum depth: 3539.548995 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3475.886012 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.976663; longitude = -108.875770; duration = 404; initialDepth = 3490.939353; finalDepth = 3475.886012; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3475.886012 # Seafloor depth: -3525.886012 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.224360 meters # Minimum depth: 3540.939353 meters looking forward 100.000000 meters along route # Maximum depth: 3561.520692 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3490.939353 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.976363; longitude = -108.874833; duration = 400; initialDepth = 3512.609725; finalDepth = 3490.939353; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3490.939353 # Seafloor depth: -3540.939353 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 105.910165 meters # Minimum depth: 3562.609725 meters looking forward 100.000000 meters along route # Maximum depth: 3565.067592 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3512.609725 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.976066; longitude = -108.873903; duration = 423; initialDepth = 3514.053727; finalDepth = 3512.609725; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3512.609725 # Seafloor depth: -3562.609725 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 105.910449 meters # Minimum depth: 3564.053727 meters looking forward 100.000000 meters along route # Maximum depth: 3567.384308 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3514.053727 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.975751; longitude = -108.872920; duration = 423; initialDepth = 3518.530208; finalDepth = 3514.053727; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3232210000001 # Actual altitude: 50.3232210000001 # Commanded vehicle depth: 3514.053727 # Seafloor depth: -3564.376948 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 105.910736 meters # Minimum depth: 3568.530208 meters looking forward 100.000000 meters along route # Maximum depth: 3631.317867 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3518.530208 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.975437; longitude = -108.871938; duration = 423; initialDepth = 3546.908904; finalDepth = 3518.530208; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3232210000001 # Actual altitude: 50.3232210000001 # Commanded vehicle depth: 3518.530208 # Seafloor depth: -3568.530208 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 105.911021 meters # Minimum depth: 3642.654838 meters looking forward 100.000000 meters along route # Maximum depth: 3694.808621 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3546.908904 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.975122; longitude = -108.870955; duration = 423; initialDepth = 3575.287676; finalDepth = 3546.908904; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 95.7459343259507 # Actual altitude: 95.7459343259507 # Commanded vehicle depth: 3546.90890367405 # Seafloor depth: -3642.654838 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 105.911307 meters # Minimum depth: 3687.735392 meters looking forward 100.000000 meters along route # Maximum depth: 3694.853968 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3575.287676 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.974808; longitude = -108.869973; duration = 423; initialDepth = 3603.666524; finalDepth = 3575.287676; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 119.566292286383 # Actual altitude: 100 # Commanded vehicle depth: 3575.28767571362 # Seafloor depth: -3694.853968 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.208550 meters # Minimum depth: 3667.707985 meters looking forward 100.000000 meters along route # Maximum depth: 3686.142944 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3603.666524 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.974494; longitude = -108.868990; duration = 400; initialDepth = 3615.419796; finalDepth = 3603.666524; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 119.566292286383 # Actual altitude: 100 # Commanded vehicle depth: 3603.66652438665 # Seafloor depth: -3686.142944 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 101.023720 meters # Minimum depth: 3665.419796 meters looking forward 100.000000 meters along route # Maximum depth: 3676.541560 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3615.419796 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.974196; longitude = -108.868060; duration = 404; initialDepth = 3629.100884; finalDepth = 3615.419796; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.4764196133465 # Actual altitude: 82.4764196133465 # Commanded vehicle depth: 3615.419796 # Seafloor depth: -3667.179968 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 105.912136 meters # Minimum depth: 3679.100884 meters looking forward 100.000000 meters along route # Maximum depth: 3690.663336 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3629.100884 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.973896; longitude = -108.867123; duration = 423; initialDepth = 3638.933853; finalDepth = 3629.100884; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7601719999998 # Actual altitude: 51.7601719999998 # Commanded vehicle depth: 3629.100884 # Seafloor depth: -3679.100884 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 105.912421 meters # Minimum depth: 3688.933853 meters looking forward 100.000000 meters along route # Maximum depth: 3691.278075 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3638.933853 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.973582; longitude = -108.866140; duration = 423; initialDepth = 3638.971970; finalDepth = 3638.933853; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3442220000002 # Actual altitude: 52.3442220000002 # Commanded vehicle depth: 3638.933853 # Seafloor depth: -3691.278075 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 105.912708 meters # Minimum depth: 3688.971970 meters looking forward 100.000000 meters along route # Maximum depth: 3692.757045 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3638.971970 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.973267; longitude = -108.865158; duration = 423; initialDepth = 3633.266121; finalDepth = 3638.971970; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3442220000002 # Actual altitude: 52.3442220000002 # Commanded vehicle depth: 3638.97197 # Seafloor depth: -3688.971970 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 105.912993 meters # Minimum depth: 3683.266121 meters looking forward 100.000000 meters along route # Maximum depth: 3692.521711 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3633.266121 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.972953; longitude = -108.864175; duration = 423; initialDepth = 3625.061684; finalDepth = 3633.266121; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.2555899999998 # Actual altitude: 59.2555899999998 # Commanded vehicle depth: 3633.266121 # Seafloor depth: -3692.521711 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 105.913279 meters # Minimum depth: 3675.061684 meters looking forward 100.000000 meters along route # Maximum depth: 3682.439125 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3625.061684 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.972639; longitude = -108.863192; duration = 423; initialDepth = 3625.267654; finalDepth = 3625.061684; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.2555899999998 # Actual altitude: 59.2555899999998 # Commanded vehicle depth: 3625.061684 # Seafloor depth: -3682.439125 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 105.913565 meters # Minimum depth: 3675.267654 meters looking forward 100.000000 meters along route # Maximum depth: 3683.705959 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3625.267654 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.972324; longitude = -108.862210; duration = 423; initialDepth = 3634.410083; finalDepth = 3625.267654; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.3774410000001 # Actual altitude: 57.3774410000001 # Commanded vehicle depth: 3625.267654 # Seafloor depth: -3675.267654 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 105.913851 meters # Minimum depth: 3684.410083 meters looking forward 100.000000 meters along route # Maximum depth: 3689.059241 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3634.410083 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.972010; longitude = -108.861227; duration = 423; initialDepth = 3638.566627; finalDepth = 3634.410083; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3634.410083 # Seafloor depth: -3684.410083 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.504765 meters # Minimum depth: 3688.566627 meters looking forward 100.000000 meters along route # Maximum depth: 3692.318369 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3638.566627 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.971696; longitude = -108.860245; duration = 402; initialDepth = 3642.960972; finalDepth = 3638.566627; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.211135 # Actual altitude: 50.211135 # Commanded vehicle depth: 3638.566627 # Seafloor depth: -3688.777762 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.732340 meters # Minimum depth: 3692.960972 meters looking forward 100.000000 meters along route # Maximum depth: 3709.324058 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3642.960972 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.971397; longitude = -108.859312; duration = 402; initialDepth = 3661.037867; finalDepth = 3642.960972; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.211135 # Actual altitude: 50.211135 # Commanded vehicle depth: 3642.960972 # Seafloor depth: -3692.960972 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 104.513914 meters # Minimum depth: 3711.037867 meters looking forward 100.000000 meters along route # Maximum depth: 3722.058913 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3661.037867 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.971098; longitude = -108.858378; duration = 418; initialDepth = 3662.698692; finalDepth = 3661.037867; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3661.037867 # Seafloor depth: -3711.037867 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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 29 # Segment length 150.040843 meters # Minimum depth: 3712.698692 meters looking forward 100.000000 meters along route # Maximum depth: 3722.499329 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3662.698692 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.970788; longitude = -108.857408; duration = 600; # abortOnTimeout = True; initialDepth = 3636.394782; finalDepth = 3662.698692; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 59.8006370000003 # Actual altitude: 59.8006370000003 # Commanded vehicle depth: 3662.698692 # Seafloor depth: -3722.499329 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 158.102046 meters # Minimum depth: 3686.394782 meters looking forward 100.000000 meters along route # Maximum depth: 3712.008850 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3636.394782 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.969509; longitude = -108.857893; duration = 632; # abortOnTimeout = True; initialDepth = 3632.718117; finalDepth = 3636.394782; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.6140680000003 # Actual altitude: 75.6140680000003 # Commanded vehicle depth: 3636.394782 # Seafloor depth: -3712.008850 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 105.881095 meters # Minimum depth: 3682.718117 meters looking forward 100.000000 meters along route # Maximum depth: 3685.467667 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3632.718117 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.969977; longitude = -108.859360; duration = 423; initialDepth = 3632.768914; finalDepth = 3632.718117; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.6140680000003 # Actual altitude: 75.6140680000003 # Commanded vehicle depth: 3632.718117 # Seafloor depth: -3685.467667 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 105.880810 meters # Minimum depth: 3682.768914 meters looking forward 100.000000 meters along route # Maximum depth: 3683.451087 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3632.768914 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.970290; longitude = -108.860343; duration = 423; initialDepth = 3628.773908; finalDepth = 3632.768914; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.74955 # Actual altitude: 52.74955 # Commanded vehicle depth: 3632.768914 # Seafloor depth: -3683.296038 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 105.880525 meters # Minimum depth: 3678.773908 meters looking forward 100.000000 meters along route # Maximum depth: 3682.627044 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3628.773908 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.970604; longitude = -108.861326; duration = 423; initialDepth = 3628.664515; finalDepth = 3628.773908; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.8531359999997 # Actual altitude: 53.8531359999997 # Commanded vehicle depth: 3628.773908 # Seafloor depth: -3682.627044 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 101.090260 meters # Minimum depth: 3678.664515 meters looking forward 100.000000 meters along route # Maximum depth: 3682.830193 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3628.664515 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.970917; longitude = -108.862308; duration = 404; initialDepth = 3633.158710; finalDepth = 3628.664515; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.8531359999997 # Actual altitude: 53.8531359999997 # Commanded vehicle depth: 3628.664515 # Seafloor depth: -3678.664515 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.081951 meters # Minimum depth: 3683.158710 meters looking forward 100.000000 meters along route # Maximum depth: 3685.654276 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3633.158710 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.971217; longitude = -108.863246; duration = 400; initialDepth = 3625.250744; finalDepth = 3633.158710; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3633.15871 # Seafloor depth: -3683.158710 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 105.879698 meters # Minimum depth: 3675.250744 meters looking forward 100.000000 meters along route # Maximum depth: 3684.243484 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3625.250744 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.971513; longitude = -108.864175; duration = 423; initialDepth = 3602.228217; finalDepth = 3625.250744; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.9927400000001 # Actual altitude: 58.9927400000001 # Commanded vehicle depth: 3625.250744 # Seafloor depth: -3684.243484 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 105.879412 meters # Minimum depth: 3652.228217 meters looking forward 100.000000 meters along route # Maximum depth: 3673.774401 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3602.228217 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.971826; longitude = -108.865158; duration = 423; initialDepth = 3590.947493; finalDepth = 3602.228217; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.5461840000003 # Actual altitude: 71.5461840000003 # Commanded vehicle depth: 3602.228217 # Seafloor depth: -3673.774401 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 105.879127 meters # Minimum depth: 3640.947493 meters looking forward 100.000000 meters along route # Maximum depth: 3650.948528 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3590.947493 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.972140; longitude = -108.866140; duration = 423; initialDepth = 3584.959375; finalDepth = 3590.947493; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.5461840000003 # Actual altitude: 71.5461840000003 # Commanded vehicle depth: 3590.947493 # Seafloor depth: -3650.948528 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.744737 meters # Minimum depth: 3634.959375 meters looking forward 100.000000 meters along route # Maximum depth: 3640.179138 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3584.959375 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.972453; longitude = -108.867123; duration = 402; initialDepth = 3581.486430; finalDepth = 3584.959375; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.0010349999998 # Actual altitude: 60.0010349999998 # Commanded vehicle depth: 3584.959375 # Seafloor depth: -3640.179138 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 18.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.424819 meters # Minimum depth: 3631.486430 meters looking forward 100.000000 meters along route # Maximum depth: 3634.759431 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3581.486430 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.972752; longitude = -108.868058; duration = 401; initialDepth = 3582.142067; finalDepth = 3581.486430; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.2197630000001 # Actual altitude: 55.2197630000001 # Commanded vehicle depth: 3581.48643 # Seafloor depth: -3634.759431 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 105.878300 meters # Minimum depth: 3632.142067 meters looking forward 100.000000 meters along route # Maximum depth: 3665.232064 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3582.142067 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.973049; longitude = -108.868990; duration = 423; initialDepth = 3610.512071; finalDepth = 3582.142067; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.273001 # Actual altitude: 53.273001 # Commanded vehicle depth: 3582.142067 # Seafloor depth: -3632.142067 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 105.878015 meters # Minimum depth: 3669.622673 meters looking forward 100.000000 meters along route # Maximum depth: 3684.289071 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3610.512071 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.973362; longitude = -108.869973; duration = 423; initialDepth = 3524.749962; finalDepth = 3610.512071; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.6507525257994 # Actual altitude: 59.6507525257994 # Commanded vehicle depth: 3610.5120714742 # Seafloor depth: -3670.162824 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 105.877730 meters # Minimum depth: 3574.749962 meters looking forward 100.000000 meters along route # Maximum depth: 3664.698188 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3524.749962 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.973676; longitude = -108.870955; duration = 423; initialDepth = 3507.112715; finalDepth = 3524.749962; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 139.948226 # Actual altitude: 100 # Commanded vehicle depth: 3524.749962 # Seafloor depth: -3664.698188 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 100.399223 meters # Minimum depth: 3557.112715 meters looking forward 100.000000 meters along route # Maximum depth: 3568.585145 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3507.112715 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.973989; longitude = -108.871938; duration = 401; initialDepth = 3507.811400; finalDepth = 3507.112715; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 139.948226 # Actual altitude: 100 # Commanded vehicle depth: 3507.112715 # Seafloor depth: -3568.585145 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 100.767679 meters # Minimum depth: 3557.811400 meters looking forward 100.000000 meters along route # Maximum depth: 3559.265878 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3507.811400 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.974286; longitude = -108.872870; duration = 403; initialDepth = 3496.775358; finalDepth = 3507.811400; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.4724299999998 # Actual altitude: 61.4724299999998 # Commanded vehicle depth: 3507.8114 # Seafloor depth: -3557.811400 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 18.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 105.876903 meters # Minimum depth: 3546.775358 meters looking forward 100.000000 meters along route # Maximum depth: 3559.344464 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3496.775358 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.974585; longitude = -108.873805; duration = 423; initialDepth = 3469.690852; finalDepth = 3496.775358; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.5691059999999 # Actual altitude: 62.5691059999999 # Commanded vehicle depth: 3496.775358 # Seafloor depth: -3559.344464 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 18.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 105.876618 meters # Minimum depth: 3519.690852 meters looking forward 100.000000 meters along route # Maximum depth: 3543.539385 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3469.690852 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.974898; longitude = -108.874787; duration = 423; initialDepth = 3467.408012; finalDepth = 3469.690852; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.8485329999999 # Actual altitude: 73.8485329999999 # Commanded vehicle depth: 3469.690852 # Seafloor depth: -3543.539385 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 105.876334 meters # Minimum depth: 3517.408012 meters looking forward 100.000000 meters along route # Maximum depth: 3519.043581 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3467.408012 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.975212; longitude = -108.875770; duration = 423; initialDepth = 3462.503301; finalDepth = 3467.408012; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.8485329999999 # Actual altitude: 73.8485329999999 # Commanded vehicle depth: 3467.408012 # Seafloor depth: -3519.043581 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.053719 meters # Minimum depth: 3512.503301 meters looking forward 100.000000 meters along route # Maximum depth: 3517.100810 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3462.503301 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.975525; longitude = -108.876753; duration = 400; initialDepth = 3456.669310; finalDepth = 3462.503301; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5975089999997 # Actual altitude: 54.5975089999997 # Commanded vehicle depth: 3462.503301 # Seafloor depth: -3517.100810 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 101.110529 meters # Minimum depth: 3506.669310 meters looking forward 100.000000 meters along route # Maximum depth: 3512.307244 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3456.669310 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.975821; longitude = -108.877681; duration = 404; initialDepth = 3443.582368; finalDepth = 3456.669310; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.6379339999999 # Actual altitude: 55.6379339999999 # Commanded vehicle depth: 3456.66931 # Seafloor depth: -3512.307244 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 105.875507 meters # Minimum depth: 3493.582368 meters looking forward 100.000000 meters along route # Maximum depth: 3505.656372 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3443.582368 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.976121; longitude = -108.878620; duration = 423; initialDepth = 3437.839366; finalDepth = 3443.582368; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.0740040000001 # Actual altitude: 62.0740040000001 # Commanded vehicle depth: 3443.582368 # Seafloor depth: -3505.656372 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 18.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 105.875223 meters # Minimum depth: 3487.839366 meters looking forward 100.000000 meters along route # Maximum depth: 3492.805962 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3437.839366 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.976434; longitude = -108.879602; duration = 423; initialDepth = 3425.044274; finalDepth = 3437.839366; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.0740040000001 # Actual altitude: 62.0740040000001 # Commanded vehicle depth: 3437.839366 # Seafloor depth: -3492.805962 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 18.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 105.874937 meters # Minimum depth: 3475.044274 meters looking forward 100.000000 meters along route # Maximum depth: 3487.142748 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3425.044274 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.976748; longitude = -108.880585; duration = 423; initialDepth = 3420.967830; finalDepth = 3425.044274; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.0984740000004 # Actual altitude: 62.0984740000004 # Commanded vehicle depth: 3425.044274 # Seafloor depth: -3487.142748 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 18.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 105.874653 meters # Minimum depth: 3470.967830 meters looking forward 100.000000 meters along route # Maximum depth: 3474.013765 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3420.967830 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.977061; longitude = -108.881568; duration = 423; initialDepth = 3416.581297; finalDepth = 3420.967830; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.0984740000004 # Actual altitude: 62.0984740000004 # Commanded vehicle depth: 3420.96783 # Seafloor depth: -3474.013765 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 18.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 105.874368 meters # Minimum depth: 3466.581297 meters looking forward 100.000000 meters along route # Maximum depth: 3470.899078 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3416.581297 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.977374; longitude = -108.882550; duration = 423; initialDepth = 3414.120643; finalDepth = 3416.581297; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.3177809999997 # Actual altitude: 54.3177809999997 # Commanded vehicle depth: 3416.581297 # Seafloor depth: -3470.899078 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 105.874083 meters # Minimum depth: 3464.120643 meters looking forward 100.000000 meters along route # Maximum depth: 3465.996773 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3414.120643 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.977688; longitude = -108.883533; duration = 423; initialDepth = 3412.546666; finalDepth = 3414.120643; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.3177809999997 # Actual altitude: 54.3177809999997 # Commanded vehicle depth: 3414.120643 # Seafloor depth: -3465.996773 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 105.873798 meters # Minimum depth: 3462.546666 meters looking forward 100.000000 meters along route # Maximum depth: 3464.061905 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3412.546666 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.978001; longitude = -108.884515; duration = 423; initialDepth = 3411.972729; finalDepth = 3412.546666; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8761299999996 # Actual altitude: 51.8761299999996 # Commanded vehicle depth: 3412.546666 # Seafloor depth: -3464.061905 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 105.873514 meters # Minimum depth: 3461.972729 meters looking forward 100.000000 meters along route # Maximum depth: 3462.470796 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3411.972729 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.978315; longitude = -108.885498; duration = 423; initialDepth = 3408.986351; finalDepth = 3411.972729; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5152389999998 # Actual altitude: 51.5152389999998 # Commanded vehicle depth: 3411.972729 # Seafloor depth: -3462.470796 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 105.873228 meters # Minimum depth: 3458.986351 meters looking forward 100.000000 meters along route # Maximum depth: 3461.921140 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3408.986351 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.978628; longitude = -108.886481; duration = 423; initialDepth = 3407.685203; finalDepth = 3408.986351; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9347889999999 # Actual altitude: 52.9347889999999 # Commanded vehicle depth: 3408.986351 # Seafloor depth: -3461.921140 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 105.872945 meters # Minimum depth: 3457.685203 meters looking forward 100.000000 meters along route # Maximum depth: 3458.810036 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3407.685203 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.978942; longitude = -108.887463; duration = 423; initialDepth = 3405.851977; finalDepth = 3407.685203; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9347889999999 # Actual altitude: 52.9347889999999 # Commanded vehicle depth: 3407.685203 # Seafloor depth: -3458.810036 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 105.872659 meters # Minimum depth: 3455.851977 meters looking forward 100.000000 meters along route # Maximum depth: 3457.902808 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3405.851977 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.979255; longitude = -108.888446; duration = 423; initialDepth = 3393.019167; finalDepth = 3405.851977; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0339260000001 # Actual altitude: 52.0339260000001 # Commanded vehicle depth: 3405.851977 # Seafloor depth: -3457.885903 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 106.612551 meters # Minimum depth: 3443.019167 meters looking forward 100.000000 meters along route # Maximum depth: 3455.235635 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3393.019167 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.979569; longitude = -108.889429; duration = 426; initialDepth = 3362.800036; finalDepth = 3393.019167; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.2164680000001 # Actual altitude: 62.2164680000001 # Commanded vehicle depth: 3393.019167 # Seafloor depth: -3455.235635 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 18.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 101.594761 meters # Minimum depth: 3412.800036 meters looking forward 100.000000 meters along route # Maximum depth: 3442.898648 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3362.800036 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.979884; longitude = -108.890418; duration = 406; initialDepth = 3348.349905; finalDepth = 3362.800036; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 80.0986119999998 # Actual altitude: 80.0986119999998 # Commanded vehicle depth: 3362.800036 # Seafloor depth: -3442.898648 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.03; 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 157.244377 meters # Minimum depth: 3398.349905 meters looking forward 100.000000 meters along route # Maximum depth: 3409.956970 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3348.349905 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.980185; longitude = -108.891361; duration = 628; # abortOnTimeout = True; initialDepth = 3347.475525; finalDepth = 3348.349905; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 80.0986119999998 # Actual altitude: 80.0986119999998 # Commanded vehicle depth: 3348.349905 # Seafloor depth: -3409.956970 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.03; 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 26 # Segment length 162.237223 meters # Minimum depth: 3397.475525 meters looking forward 100.000000 meters along route # Maximum depth: 3443.000628 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3347.475525 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.978861; longitude = -108.891918; duration = 648; # abortOnTimeout = True; initialDepth = 3390.946857; finalDepth = 3347.475525; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.6070650000001 # Actual altitude: 61.6070650000001 # Commanded vehicle depth: 3347.475525 # Seafloor depth: -3397.475525 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 18.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 105.799934 meters # Minimum depth: 3444.273742 meters looking forward 100.000000 meters along route # Maximum depth: 3453.001726 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3390.946857 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.978383; longitude = -108.890411; duration = 423; initialDepth = 3403.132136; finalDepth = 3390.946857; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.3268848914208 # Actual altitude: 53.3268848914208 # Commanded vehicle depth: 3390.94685710858 # Seafloor depth: -3444.273742 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 105.800218 meters # Minimum depth: 3453.132136 meters looking forward 100.000000 meters along route # Maximum depth: 3456.627307 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3403.132136 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.978072; longitude = -108.889429; duration = 423; initialDepth = 3406.821486; finalDepth = 3403.132136; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.3268848914208 # Actual altitude: 53.3268848914208 # Commanded vehicle depth: 3403.132136 # Seafloor depth: -3453.132136 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 106.730373 meters # Minimum depth: 3456.821486 meters looking forward 100.000000 meters along route # Maximum depth: 3457.480067 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3406.821486 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.977761; longitude = -108.888446; duration = 426; initialDepth = 3407.457684; finalDepth = 3406.821486; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3406.821486 # Seafloor depth: -3456.821486 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 104.870912 meters # Minimum depth: 3457.457684 meters looking forward 100.000000 meters along route # Maximum depth: 3458.255446 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3407.457684 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.977446; longitude = -108.887455; duration = 419; initialDepth = 3408.409875; finalDepth = 3407.457684; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.027126 # Actual altitude: 50.027126 # Commanded vehicle depth: 3407.457684 # Seafloor depth: -3457.484810 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 109.846876 meters # Minimum depth: 3458.409875 meters looking forward 100.000000 meters along route # Maximum depth: 3460.405893 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3408.409875 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.977138; longitude = -108.886481; duration = 439; initialDepth = 3410.461007; finalDepth = 3408.409875; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.027126 # Actual altitude: 50.027126 # Commanded vehicle depth: 3408.409875 # Seafloor depth: -3458.409875 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 101.755542 meters # Minimum depth: 3460.461007 meters looking forward 100.000000 meters along route # Maximum depth: 3463.236606 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3410.461007 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.976814; longitude = -108.885461; duration = 407; initialDepth = 3413.775278; finalDepth = 3410.461007; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3410.461007 # Seafloor depth: -3460.461007 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 105.801634 meters # Minimum depth: 3463.775278 meters looking forward 100.000000 meters along route # Maximum depth: 3467.770765 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3413.775278 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.976515; longitude = -108.884515; duration = 423; initialDepth = 3418.095138; finalDepth = 3413.775278; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3413.775278 # Seafloor depth: -3463.775278 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 105.801917 meters # Minimum depth: 3468.095138 meters looking forward 100.000000 meters along route # Maximum depth: 3469.122322 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3418.095138 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.976204; longitude = -108.883533; duration = 423; initialDepth = 3418.857529; finalDepth = 3418.095138; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3418.095138 # Seafloor depth: -3468.095138 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 105.802201 meters # Minimum depth: 3468.857529 meters looking forward 100.000000 meters along route # Maximum depth: 3471.288534 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3418.857529 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.975892; longitude = -108.882550; duration = 423; initialDepth = 3421.980041; finalDepth = 3418.857529; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3418.857529 # Seafloor depth: -3468.857529 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 105.802484 meters # Minimum depth: 3471.980041 meters looking forward 100.000000 meters along route # Maximum depth: 3482.457200 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3421.980041 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.975581; longitude = -108.881568; duration = 423; initialDepth = 3432.762381; finalDepth = 3421.980041; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3421.980041 # Seafloor depth: -3471.980041 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 105.802768 meters # Minimum depth: 3482.762381 meters looking forward 100.000000 meters along route # Maximum depth: 3487.992657 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3432.762381 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.975269; longitude = -108.880585; duration = 423; initialDepth = 3438.860723; finalDepth = 3432.762381; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3432.762381 # Seafloor depth: -3482.762381 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 105.803052 meters # Minimum depth: 3488.860723 meters looking forward 100.000000 meters along route # Maximum depth: 3498.243351 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3438.860723 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.974958; longitude = -108.879602; duration = 423; initialDepth = 3448.268300; finalDepth = 3438.860723; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3438.860723 # Seafloor depth: -3488.860723 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 105.803335 meters # Minimum depth: 3498.268300 meters looking forward 100.000000 meters along route # Maximum depth: 3504.336764 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3448.268300 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.974646; longitude = -108.878620; duration = 423; initialDepth = 3455.181888; finalDepth = 3448.268300; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3448.2683 # Seafloor depth: -3498.268300 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 108.534156 meters # Minimum depth: 3505.181888 meters looking forward 100.000000 meters along route # Maximum depth: 3510.627356 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3455.181888 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.974335; longitude = -108.877637; duration = 434; initialDepth = 3460.691796; finalDepth = 3455.181888; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3455.181888 # Seafloor depth: -3505.181888 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 103.073364 meters # Minimum depth: 3510.691796 meters looking forward 100.000000 meters along route # Maximum depth: 3517.627632 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3460.691796 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.974016; longitude = -108.876629; duration = 412; initialDepth = 3469.710163; finalDepth = 3460.691796; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3460.691796 # Seafloor depth: -3510.691796 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 105.804185 meters # Minimum depth: 3519.710163 meters looking forward 100.000000 meters along route # Maximum depth: 3543.920897 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3469.710163 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.973712; longitude = -108.875672; duration = 423; initialDepth = 3496.038896; finalDepth = 3469.710163; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3469.710163 # Seafloor depth: -3519.710163 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 105.804470 meters # Minimum depth: 3546.038896 meters looking forward 100.000000 meters along route # Maximum depth: 3554.107215 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3496.038896 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.973401; longitude = -108.874689; duration = 423; initialDepth = 3504.286546; finalDepth = 3496.038896; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3496.038896 # Seafloor depth: -3546.038896 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 105.804753 meters # Minimum depth: 3554.286546 meters looking forward 100.000000 meters along route # Maximum depth: 3558.366330 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3504.286546 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.973089; longitude = -108.873707; duration = 423; initialDepth = 3509.551974; finalDepth = 3504.286546; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3504.286546 # Seafloor depth: -3554.286546 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 100.988129 meters # Minimum depth: 3559.551974 meters looking forward 100.000000 meters along route # Maximum depth: 3600.159857 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3509.551974 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.972778; longitude = -108.872724; duration = 403; initialDepth = 3536.611661; finalDepth = 3509.551974; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3509.551974 # Seafloor depth: -3559.551974 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 100.041683 meters # Minimum depth: 3604.995439 meters looking forward 100.000000 meters along route # Maximum depth: 3661.124929 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3536.611661 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.972481; longitude = -108.871786; duration = 400; initialDepth = 3563.417749; finalDepth = 3536.611661; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.3837778726947 # Actual altitude: 68.3837778726947 # Commanded vehicle depth: 3536.61166112731 # Seafloor depth: -3604.995439 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 105.805575 meters # Minimum depth: 3637.614194 meters looking forward 100.000000 meters along route # Maximum depth: 3661.511802 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3563.417749 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.972186; longitude = -108.870857; duration = 423; initialDepth = 3557.296432; finalDepth = 3563.417749; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 98.094053182238 # Actual altitude: 98.094053182238 # Commanded vehicle depth: 3563.41774881776 # Seafloor depth: -3661.511802 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 100.905904 meters # Minimum depth: 3607.296432 meters looking forward 100.000000 meters along route # Maximum depth: 3634.137612 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3557.296432 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.971875; longitude = -108.869874; duration = 403; initialDepth = 3542.524122; finalDepth = 3557.296432; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 98.094053182238 # Actual altitude: 98.094053182238 # Commanded vehicle depth: 3557.296432 # Seafloor depth: -3634.137612 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 100.125471 meters # Minimum depth: 3592.524122 meters looking forward 100.000000 meters along route # Maximum depth: 3605.916271 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3542.524122 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.971578; longitude = -108.868937; duration = 400; initialDepth = 3542.248188; finalDepth = 3542.524122; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.8411799999999 # Actual altitude: 76.8411799999999 # Commanded vehicle depth: 3542.524122 # Seafloor depth: -3605.916271 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 105.806399 meters # Minimum depth: 3592.248188 meters looking forward 100.000000 meters along route # Maximum depth: 3597.756862 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3542.248188 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.971283; longitude = -108.868007; duration = 423; initialDepth = 3549.142116; finalDepth = 3542.248188; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.3921490000002 # Actual altitude: 63.3921490000002 # Commanded vehicle depth: 3542.248188 # Seafloor depth: -3592.248188 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 19.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 100.823676 meters # Minimum depth: 3599.142116 meters looking forward 100.000000 meters along route # Maximum depth: 3615.741847 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3549.142116 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.970972; longitude = -108.867025; duration = 403; initialDepth = 3567.027841; finalDepth = 3549.142116; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3549.142116 # Seafloor depth: -3599.142116 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 100.209263 meters # Minimum depth: 3617.027841 meters looking forward 100.000000 meters along route # Maximum depth: 3640.811385 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3567.027841 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.970675; longitude = -108.866088; duration = 400; initialDepth = 3592.853812; finalDepth = 3567.027841; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3567.027841 # Seafloor depth: -3617.027841 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 105.807222 meters # Minimum depth: 3642.853812 meters looking forward 100.000000 meters along route # Maximum depth: 3661.286230 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3592.853812 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.970380; longitude = -108.865158; duration = 423; initialDepth = 3613.448560; finalDepth = 3592.853812; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3592.853812 # Seafloor depth: -3642.853812 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 100.741447 meters # Minimum depth: 3663.448560 meters looking forward 100.000000 meters along route # Maximum depth: 3685.049356 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3613.448560 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.970069; longitude = -108.864175; duration = 402; initialDepth = 3636.146803; finalDepth = 3613.448560; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3613.44856 # Seafloor depth: -3663.448560 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 100.293056 meters # Minimum depth: 3686.146803 meters looking forward 100.000000 meters along route # Maximum depth: 3692.465735 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3636.146803 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.969772; longitude = -108.863240; duration = 401; initialDepth = 3642.190824; finalDepth = 3636.146803; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3636.146803 # Seafloor depth: -3686.146803 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 105.808045 meters # Minimum depth: 3692.190824 meters looking forward 100.000000 meters along route # Maximum depth: 3694.623268 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3642.190824 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.969477; longitude = -108.862308; duration = 423; initialDepth = 3644.812762; finalDepth = 3642.190824; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0329770000003 # Actual altitude: 50.0329770000003 # Commanded vehicle depth: 3642.190824 # Seafloor depth: -3692.223801 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 105.808328 meters # Minimum depth: 3694.812762 meters looking forward 100.000000 meters along route # Maximum depth: 3696.413611 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3644.812762 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.969165; longitude = -108.861326; duration = 423; initialDepth = 3646.579953; finalDepth = 3644.812762; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0329770000003 # Actual altitude: 50.0329770000003 # Commanded vehicle depth: 3644.812762 # Seafloor depth: -3694.812762 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 105.808613 meters # Minimum depth: 3696.579953 meters looking forward 100.000000 meters along route # Maximum depth: 3701.650033 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3646.579953 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.968854; longitude = -108.860343; duration = 423; initialDepth = 3652.540465; finalDepth = 3646.579953; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3646.579953 # Seafloor depth: -3696.579953 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 105.876668 meters # Minimum depth: 3702.540465 meters looking forward 100.000000 meters along route # Maximum depth: 3710.879644 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3652.540465 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.968543; longitude = -108.859360; duration = 423; initialDepth = 3661.263916; finalDepth = 3652.540465; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3652.540465 # Seafloor depth: -3702.540465 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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 25 # Segment length 150.041044 meters # Minimum depth: 3711.263916 meters looking forward 100.000000 meters along route # Maximum depth: 3715.534824 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3661.263916 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.968231; longitude = -108.858377; duration = 600; # abortOnTimeout = True; initialDepth = 3658.637493; finalDepth = 3661.263916; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3661.263916 # Seafloor depth: -3711.263916 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 180.743092 meters # Minimum depth: 3708.637493 meters looking forward 100.000000 meters along route # Maximum depth: 3715.847473 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3658.637493 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.966952; longitude = -108.858862; duration = 722; # abortOnTimeout = True; initialDepth = 3652.311550; finalDepth = 3658.637493; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.2099799999996 # Actual altitude: 57.2099799999996 # Commanded vehicle depth: 3658.637493 # Seafloor depth: -3715.847473 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 105.879081 meters # Minimum depth: 3702.311550 meters looking forward 100.000000 meters along route # Maximum depth: 3708.027456 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3652.311550 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.967487; longitude = -108.860539; duration = 423; initialDepth = 3644.427209; finalDepth = 3652.311550; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.2099799999996 # Actual altitude: 57.2099799999996 # Commanded vehicle depth: 3652.31155 # Seafloor depth: -3708.027456 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 105.878796 meters # Minimum depth: 3694.427209 meters looking forward 100.000000 meters along route # Maximum depth: 3702.141025 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3644.427209 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.967800; longitude = -108.861522; duration = 423; initialDepth = 3629.538022; finalDepth = 3644.427209; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.713816 # Actual altitude: 57.713816 # Commanded vehicle depth: 3644.427209 # Seafloor depth: -3702.141025 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 105.878511 meters # Minimum depth: 3679.538022 meters looking forward 100.000000 meters along route # Maximum depth: 3693.000908 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3629.538022 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.968114; longitude = -108.862505; duration = 423; initialDepth = 3595.419156; finalDepth = 3629.538022; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.4628859999998 # Actual altitude: 63.4628859999998 # Commanded vehicle depth: 3629.538022 # Seafloor depth: -3693.000908 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 19.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 105.878226 meters # Minimum depth: 3645.419156 meters looking forward 100.000000 meters along route # Maximum depth: 3678.875510 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3595.419156 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.968427; longitude = -108.863487; duration = 423; initialDepth = 3573.413479; finalDepth = 3595.419156; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.4563539999999 # Actual altitude: 83.4563539999999 # Commanded vehicle depth: 3595.419156 # Seafloor depth: -3678.875510 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 105.877940 meters # Minimum depth: 3623.413479 meters looking forward 100.000000 meters along route # Maximum depth: 3641.303387 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3573.413479 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.968740; longitude = -108.864470; duration = 423; initialDepth = 3552.291036; finalDepth = 3573.413479; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.4563539999999 # Actual altitude: 83.4563539999999 # Commanded vehicle depth: 3573.413479 # Seafloor depth: -3641.303387 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 105.877655 meters # Minimum depth: 3602.291036 meters looking forward 100.000000 meters along route # Maximum depth: 3623.332817 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3552.291036 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.969054; longitude = -108.865453; duration = 423; initialDepth = 3518.817391; finalDepth = 3552.291036; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.0417809999999 # Actual altitude: 71.0417809999999 # Commanded vehicle depth: 3552.291036 # Seafloor depth: -3623.332817 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 106.370181 meters # Minimum depth: 3568.817391 meters looking forward 100.000000 meters along route # Maximum depth: 3597.989417 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3518.817391 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.969367; longitude = -108.866435; duration = 425; initialDepth = 3518.316081; finalDepth = 3518.817391; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.1720259999997 # Actual altitude: 79.1720259999997 # Commanded vehicle depth: 3518.817391 # Seafloor depth: -3597.989417 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 105.384274 meters # Minimum depth: 3568.316081 meters looking forward 100.000000 meters along route # Maximum depth: 3574.212857 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3518.316081 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.969682; longitude = -108.867422; duration = 421; initialDepth = 3525.944864; finalDepth = 3518.316081; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.1720259999997 # Actual altitude: 79.1720259999997 # Commanded vehicle depth: 3518.316081 # Seafloor depth: -3568.795525 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 108.166828 meters # Minimum depth: 3575.944864 meters looking forward 100.000000 meters along route # Maximum depth: 3602.188893 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3525.944864 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.969994; longitude = -108.868400; duration = 432; initialDepth = 3552.863206; finalDepth = 3525.944864; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4794440000001 # Actual altitude: 50.4794440000001 # Commanded vehicle depth: 3525.944864 # Seafloor depth: -3575.944864 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 103.586488 meters # Minimum depth: 3602.863206 meters looking forward 100.000000 meters along route # Maximum depth: 3624.832852 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3552.863206 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.970314; longitude = -108.869404; duration = 414; initialDepth = 3577.438129; finalDepth = 3552.863206; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3552.863206 # Seafloor depth: -3602.863206 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 109.963454 meters # Minimum depth: 3627.438129 meters looking forward 100.000000 meters along route # Maximum depth: 3646.179911 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3577.438129 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.970620; longitude = -108.870366; duration = 439; initialDepth = 3540.030811; finalDepth = 3577.438129; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3577.438129 # Seafloor depth: -3627.438129 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 101.788721 meters # Minimum depth: 3590.030811 meters looking forward 100.000000 meters along route # Maximum depth: 3643.410307 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3540.030811 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.970946; longitude = -108.871386; duration = 407; initialDepth = 3503.537765; finalDepth = 3540.030811; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 103.379496 # Actual altitude: 100 # Commanded vehicle depth: 3540.030811 # Seafloor depth: -3643.410307 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 105.875660 meters # Minimum depth: 3553.537765 meters looking forward 100.000000 meters along route # Maximum depth: 3583.753257 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3503.537765 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.971247; longitude = -108.872331; duration = 423; initialDepth = 3496.816149; finalDepth = 3503.537765; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 103.379496 # Actual altitude: 100 # Commanded vehicle depth: 3503.537765 # Seafloor depth: -3583.753257 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 105.875375 meters # Minimum depth: 3546.816149 meters looking forward 100.000000 meters along route # Maximum depth: 3552.129731 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3496.816149 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.971560; longitude = -108.873314; duration = 423; initialDepth = 3479.631459; finalDepth = 3496.816149; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.2154919999998 # Actual altitude: 80.2154919999998 # Commanded vehicle depth: 3496.816149 # Seafloor depth: -3552.129731 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 105.875090 meters # Minimum depth: 3529.631459 meters looking forward 100.000000 meters along route # Maximum depth: 3546.317655 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3479.631459 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.971874; longitude = -108.874296; duration = 423; initialDepth = 3463.310079; finalDepth = 3479.631459; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.6861959999997 # Actual altitude: 66.6861959999997 # Commanded vehicle depth: 3479.631459 # Seafloor depth: -3546.317655 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 105.874805 meters # Minimum depth: 3513.310079 meters looking forward 100.000000 meters along route # Maximum depth: 3527.196926 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3463.310079 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.972187; longitude = -108.875279; duration = 423; initialDepth = 3454.970306; finalDepth = 3463.310079; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.6861959999997 # Actual altitude: 66.6861959999997 # Commanded vehicle depth: 3463.310079 # Seafloor depth: -3527.196926 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 105.874521 meters # Minimum depth: 3504.970306 meters looking forward 100.000000 meters along route # Maximum depth: 3512.676201 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3454.970306 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.972500; longitude = -108.876261; duration = 423; initialDepth = 3447.201059; finalDepth = 3454.970306; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.8868470000002 # Actual altitude: 63.8868470000002 # Commanded vehicle depth: 3454.970306 # Seafloor depth: -3512.676201 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 19.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 105.874235 meters # Minimum depth: 3497.201059 meters looking forward 100.000000 meters along route # Maximum depth: 3504.294754 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3447.201059 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.972814; longitude = -108.877244; duration = 423; initialDepth = 3441.842434; finalDepth = 3447.201059; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.7058950000001 # Actual altitude: 57.7058950000001 # Commanded vehicle depth: 3447.201059 # Seafloor depth: -3504.294754 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 105.873951 meters # Minimum depth: 3491.842434 meters looking forward 100.000000 meters along route # Maximum depth: 3496.838477 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3441.842434 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.973127; longitude = -108.878227; duration = 423; initialDepth = 3434.707612; finalDepth = 3441.842434; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.093695 # Actual altitude: 57.093695 # Commanded vehicle depth: 3441.842434 # Seafloor depth: -3496.838477 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 105.873666 meters # Minimum depth: 3484.707612 meters looking forward 100.000000 meters along route # Maximum depth: 3491.108056 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3434.707612 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.973440; longitude = -108.879209; duration = 423; initialDepth = 3430.819834; finalDepth = 3434.707612; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.4004439999999 # Actual altitude: 56.4004439999999 # Commanded vehicle depth: 3434.707612 # Seafloor depth: -3491.108056 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 105.873382 meters # Minimum depth: 3480.819834 meters looking forward 100.000000 meters along route # Maximum depth: 3484.627554 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3430.819834 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.973754; longitude = -108.880192; duration = 423; initialDepth = 3419.660083; finalDepth = 3430.819834; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.4004439999999 # Actual altitude: 56.4004439999999 # Commanded vehicle depth: 3430.819834 # Seafloor depth: -3484.627554 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 105.873096 meters # Minimum depth: 3469.660083 meters looking forward 100.000000 meters along route # Maximum depth: 3479.773333 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3419.660083 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.974067; longitude = -108.881175; duration = 423; initialDepth = 3415.147885; finalDepth = 3419.660083; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.1132499999999 # Actual altitude: 60.1132499999999 # Commanded vehicle depth: 3419.660083 # Seafloor depth: -3479.773333 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 18.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 105.872812 meters # Minimum depth: 3465.147885 meters looking forward 100.000000 meters along route # Maximum depth: 3469.587503 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3415.147885 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.974380; longitude = -108.882157; duration = 423; initialDepth = 3412.681025; finalDepth = 3415.147885; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.1132499999999 # Actual altitude: 60.1132499999999 # Commanded vehicle depth: 3415.147885 # Seafloor depth: -3469.587503 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 18.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 106.388070 meters # Minimum depth: 3462.681025 meters looking forward 100.000000 meters along route # Maximum depth: 3464.659875 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3412.681025 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.974694; longitude = -108.883140; duration = 425; initialDepth = 3410.042087; finalDepth = 3412.681025; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.4396180000003 # Actual altitude: 54.4396180000003 # Commanded vehicle depth: 3412.681025 # Seafloor depth: -3464.659875 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 101.797989 meters # Minimum depth: 3460.042087 meters looking forward 100.000000 meters along route # Maximum depth: 3462.672948 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3410.042087 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.975009; longitude = -108.884127; duration = 407; initialDepth = 3406.066878; finalDepth = 3410.042087; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.6308610000001 # Actual altitude: 52.6308610000001 # Commanded vehicle depth: 3410.042087 # Seafloor depth: -3462.672948 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.79; 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 23 # Segment length 166.751053 meters # Minimum depth: 3456.066878 meters looking forward 100.000000 meters along route # Maximum depth: 3459.867615 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3406.066878 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.975310; longitude = -108.885072; duration = 667; # abortOnTimeout = True; initialDepth = 3406.026306; finalDepth = 3406.066878; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.800737 # Actual altitude: 53.800737 # Commanded vehicle depth: 3406.066878 # Seafloor depth: -3459.867615 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 119.945473 meters # Minimum depth: 3456.026306 meters looking forward 100.000000 meters along route # Maximum depth: 3462.489839 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3406.026306 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.973805; longitude = -108.885040; duration = 479; # abortOnTimeout = True; initialDepth = 3412.927776; finalDepth = 3406.026306; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.800737 # Actual altitude: 53.800737 # Commanded vehicle depth: 3406.026306 # Seafloor depth: -3456.026306 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 105.789035 meters # Minimum depth: 3462.927776 meters looking forward 100.000000 meters along route # Maximum depth: 3466.982364 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3412.927776 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.973452; longitude = -108.883926; duration = 423; initialDepth = 3417.434032; finalDepth = 3412.927776; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3412.927776 # Seafloor depth: -3462.927776 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 105.789318 meters # Minimum depth: 3467.434032 meters looking forward 100.000000 meters along route # Maximum depth: 3470.338406 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3417.434032 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.973141; longitude = -108.882943; duration = 423; initialDepth = 3420.410724; finalDepth = 3417.434032; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3417.434032 # Seafloor depth: -3467.434032 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 105.789601 meters # Minimum depth: 3470.410724 meters looking forward 100.000000 meters along route # Maximum depth: 3478.505638 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3420.410724 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.972830; longitude = -108.881961; duration = 423; initialDepth = 3429.955149; finalDepth = 3420.410724; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3420.410724 # Seafloor depth: -3470.410724 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 105.789884 meters # Minimum depth: 3479.955149 meters looking forward 100.000000 meters along route # Maximum depth: 3489.791742 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3429.955149 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.972519; longitude = -108.880978; duration = 423; initialDepth = 3439.820476; finalDepth = 3429.955149; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3429.955149 # Seafloor depth: -3479.955149 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 105.790168 meters # Minimum depth: 3489.820476 meters looking forward 100.000000 meters along route # Maximum depth: 3491.859682 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3439.820476 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.972208; longitude = -108.879995; duration = 423; initialDepth = 3441.907230; finalDepth = 3439.820476; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3439.820476 # Seafloor depth: -3489.820476 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 108.690701 meters # Minimum depth: 3491.907230 meters looking forward 100.000000 meters along route # Maximum depth: 3495.048781 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3441.907230 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.971897; longitude = -108.879013; duration = 434; initialDepth = 3445.307819; finalDepth = 3441.907230; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3441.90723 # Seafloor depth: -3491.907230 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.890483 meters # Minimum depth: 3495.307819 meters looking forward 100.000000 meters along route # Maximum depth: 3506.441616 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3445.307819 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.971578; longitude = -108.878003; duration = 411; initialDepth = 3457.455360; finalDepth = 3445.307819; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3445.307819 # Seafloor depth: -3495.307819 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 105.791017 meters # Minimum depth: 3507.455360 meters looking forward 100.000000 meters along route # Maximum depth: 3517.318490 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3457.455360 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.971275; longitude = -108.877048; duration = 423; initialDepth = 3468.689047; finalDepth = 3457.455360; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3457.45536 # Seafloor depth: -3507.455360 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 105.791301 meters # Minimum depth: 3518.689047 meters looking forward 100.000000 meters along route # Maximum depth: 3531.145728 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3468.689047 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.970964; longitude = -108.876065; duration = 423; initialDepth = 3482.115670; finalDepth = 3468.689047; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3468.689047 # Seafloor depth: -3518.689047 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 105.791583 meters # Minimum depth: 3532.115670 meters looking forward 100.000000 meters along route # Maximum depth: 3543.410355 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3482.115670 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.970653; longitude = -108.875082; duration = 423; initialDepth = 3494.605576; finalDepth = 3482.115670; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3482.11567 # Seafloor depth: -3532.115670 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 105.791867 meters # Minimum depth: 3544.605576 meters looking forward 100.000000 meters along route # Maximum depth: 3557.275212 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3494.605576 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.970342; longitude = -108.874100; duration = 423; initialDepth = 3507.835985; finalDepth = 3494.605576; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3494.605576 # Seafloor depth: -3544.605576 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 105.792151 meters # Minimum depth: 3557.835985 meters looking forward 100.000000 meters along route # Maximum depth: 3587.838894 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3507.835985 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.970031; longitude = -108.873117; duration = 423; initialDepth = 3536.182906; finalDepth = 3507.835985; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3507.835985 # Seafloor depth: -3557.835985 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 105.792434 meters # Minimum depth: 3593.801125 meters looking forward 100.000000 meters along route # Maximum depth: 3624.946621 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3536.182906 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.969720; longitude = -108.872134; duration = 423; initialDepth = 3561.242986; finalDepth = 3536.182906; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.6182190803675 # Actual altitude: 57.6182190803675 # Commanded vehicle depth: 3536.18290591963 # Seafloor depth: -3593.801125 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 105.792717 meters # Minimum depth: 3611.242986 meters looking forward 100.000000 meters along route # Maximum depth: 3622.769086 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3561.242986 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.969409; longitude = -108.871152; duration = 423; initialDepth = 3530.834151; finalDepth = 3561.242986; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.5260999999996 # Actual altitude: 61.5260999999996 # Commanded vehicle depth: 3561.242986 # Seafloor depth: -3622.769086 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 18.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 108.637148 meters # Minimum depth: 3580.834151 meters looking forward 100.000000 meters along route # Maximum depth: 3609.343228 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3530.834151 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.969098; longitude = -108.870169; duration = 434; initialDepth = 3521.890739; finalDepth = 3530.834151; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.5090770000002 # Actual altitude: 78.5090770000002 # Commanded vehicle depth: 3530.834151 # Seafloor depth: -3609.343228 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.949137 meters # Minimum depth: 3571.890739 meters looking forward 100.000000 meters along route # Maximum depth: 3580.303093 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3521.890739 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.968779; longitude = -108.869160; duration = 411; initialDepth = 3522.307512; finalDepth = 3521.890739; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.5090770000002 # Actual altitude: 78.5090770000002 # Commanded vehicle depth: 3521.890739 # Seafloor depth: -3580.303093 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 105.793567 meters # Minimum depth: 3572.307512 meters looking forward 100.000000 meters along route # Maximum depth: 3591.918876 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3522.307512 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.968476; longitude = -108.868204; duration = 423; initialDepth = 3545.030534; finalDepth = 3522.307512; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.4123540000001 # Actual altitude: 58.4123540000001 # Commanded vehicle depth: 3522.307512 # Seafloor depth: -3572.307512 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 105.793852 meters # Minimum depth: 3595.030534 meters looking forward 100.000000 meters along route # Maximum depth: 3618.450031 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3545.030534 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.968165; longitude = -108.867221; duration = 423; initialDepth = 3569.120785; finalDepth = 3545.030534; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3545.030534 # Seafloor depth: -3595.030534 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 105.794134 meters # Minimum depth: 3619.120785 meters looking forward 100.000000 meters along route # Maximum depth: 3627.744662 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3569.120785 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.967854; longitude = -108.866239; duration = 423; initialDepth = 3580.270050; finalDepth = 3569.120785; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3569.120785 # Seafloor depth: -3619.120785 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 105.794418 meters # Minimum depth: 3630.270050 meters looking forward 100.000000 meters along route # Maximum depth: 3660.364978 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3580.270050 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.967543; longitude = -108.865256; duration = 423; initialDepth = 3608.617578; finalDepth = 3580.270050; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3580.27005 # Seafloor depth: -3630.270050 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 105.794702 meters # Minimum depth: 3661.514367 meters looking forward 100.000000 meters along route # Maximum depth: 3685.769293 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3608.617578 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.967232; longitude = -108.864273; duration = 423; initialDepth = 3636.965183; finalDepth = 3608.617578; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.8967886395585 # Actual altitude: 52.8967886395585 # Commanded vehicle depth: 3608.61757836044 # Seafloor depth: -3661.514367 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 105.794986 meters # Minimum depth: 3687.855966 meters looking forward 100.000000 meters along route # Maximum depth: 3703.574366 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3636.965183 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.966921; longitude = -108.863291; duration = 423; initialDepth = 3653.632608; finalDepth = 3636.965183; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.8967886395585 # Actual altitude: 52.8967886395585 # Commanded vehicle depth: 3636.96518281845 # Seafloor depth: -3687.855966 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 105.795269 meters # Minimum depth: 3703.632608 meters looking forward 100.000000 meters along route # Maximum depth: 3708.875890 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3653.632608 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.966610; longitude = -108.862308; duration = 423; initialDepth = 3659.412984; finalDepth = 3653.632608; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8907831815482 # Actual altitude: 50.8907831815482 # Commanded vehicle depth: 3653.632608 # Seafloor depth: -3703.632608 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 108.583594 meters # Minimum depth: 3709.412984 meters looking forward 100.000000 meters along route # Maximum depth: 3711.397860 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3659.412984 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.966299; longitude = -108.861326; duration = 434; initialDepth = 3661.448743; finalDepth = 3659.412984; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3659.412984 # Seafloor depth: -3709.412984 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 104.434849 meters # Minimum depth: 3711.448743 meters looking forward 100.000000 meters along route # Maximum depth: 3713.320044 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3661.448743 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.965980; longitude = -108.860317; duration = 417; initialDepth = 3662.361962; finalDepth = 3661.448743; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3661.448743 # Seafloor depth: -3711.448743 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 150.007777 meters # Minimum depth: 3712.361962 meters looking forward 100.000000 meters along route # Maximum depth: 3714.203074 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3662.361962 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.965673; longitude = -108.859347; duration = 600; # abortOnTimeout = True; initialDepth = 3662.828066; finalDepth = 3662.361962; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.0748060000001 # Actual altitude: 51.0748060000001 # Commanded vehicle depth: 3662.361962 # Seafloor depth: -3713.436768 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 109.462040 meters # Minimum depth: 3712.828066 meters looking forward 100.000000 meters along route # Maximum depth: 3714.386047 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3662.828066 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.964394; longitude = -108.859831; duration = 437; # abortOnTimeout = True; initialDepth = 3662.175400; finalDepth = 3662.828066; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5579809999999 # Actual altitude: 51.5579809999999 # Commanded vehicle depth: 3662.828066 # Seafloor depth: -3714.386047 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 104.361734 meters # Minimum depth: 3712.175400 meters looking forward 100.000000 meters along route # Maximum depth: 3712.985801 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3662.175400 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.964716; longitude = -108.860848; duration = 417; initialDepth = 3648.170857; finalDepth = 3662.175400; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5579809999999 # Actual altitude: 51.5579809999999 # Commanded vehicle depth: 3662.1754 # Seafloor depth: -3712.941795 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 110.493845 meters # Minimum depth: 3698.170857 meters looking forward 100.000000 meters along route # Maximum depth: 3711.785841 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3648.170857 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.965023; longitude = -108.861817; duration = 441; initialDepth = 3637.502413; finalDepth = 3648.170857; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.6149839999998 # Actual altitude: 63.6149839999998 # Commanded vehicle depth: 3648.170857 # Seafloor depth: -3711.785841 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 19.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.114241 meters # Minimum depth: 3687.502413 meters looking forward 100.000000 meters along route # Maximum depth: 3697.375099 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3637.502413 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.965348; longitude = -108.862843; duration = 404; initialDepth = 3626.075657; finalDepth = 3637.502413; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.6149839999998 # Actual altitude: 63.6149839999998 # Commanded vehicle depth: 3637.502413 # Seafloor depth: -3697.375099 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 19.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 105.803618 meters # Minimum depth: 3676.075657 meters looking forward 100.000000 meters along route # Maximum depth: 3687.092798 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3626.075657 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.965645; longitude = -108.863782; duration = 423; initialDepth = 3591.906733; finalDepth = 3626.075657; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.0171410000003 # Actual altitude: 61.0171410000003 # Commanded vehicle depth: 3626.075657 # Seafloor depth: -3687.092798 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 18.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 100.016653 meters # Minimum depth: 3641.906733 meters looking forward 100.000000 meters along route # Maximum depth: 3673.015345 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3591.906733 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.965957; longitude = -108.864765; duration = 400; initialDepth = 3581.312142; finalDepth = 3591.906733; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.108612 # Actual altitude: 81.108612 # Commanded vehicle depth: 3591.906733 # Seafloor depth: -3673.015345 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.009438 meters # Minimum depth: 3631.312142 meters looking forward 100.000000 meters along route # Maximum depth: 3640.947097 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3581.312142 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.966251; longitude = -108.865694; duration = 404; initialDepth = 3569.317064; finalDepth = 3581.312142; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.108612 # Actual altitude: 81.108612 # Commanded vehicle depth: 3581.312142 # Seafloor depth: -3640.947097 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 105.802795 meters # Minimum depth: 3619.317064 meters looking forward 100.000000 meters along route # Maximum depth: 3630.585413 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3569.317064 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.966548; longitude = -108.866632; duration = 423; initialDepth = 3554.260777; finalDepth = 3569.317064; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.2683489999999 # Actual altitude: 61.2683489999999 # Commanded vehicle depth: 3569.317064 # Seafloor depth: -3630.585413 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 18.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 100.119892 meters # Minimum depth: 3604.260777 meters looking forward 100.000000 meters along route # Maximum depth: 3617.838781 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3554.260777 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.966859; longitude = -108.867614; duration = 400; initialDepth = 3535.566711; finalDepth = 3554.260777; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.578004 # Actual altitude: 63.578004 # Commanded vehicle depth: 3554.260777 # Seafloor depth: -3617.838781 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 19.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 100.904636 meters # Minimum depth: 3585.566711 meters looking forward 100.000000 meters along route # Maximum depth: 3603.249472 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3535.566711 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.967154; longitude = -108.868544; duration = 403; initialDepth = 3534.430014; finalDepth = 3535.566711; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.682761 # Actual altitude: 67.682761 # Commanded vehicle depth: 3535.566711 # Seafloor depth: -3603.249472 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 105.801973 meters # Minimum depth: 3584.430014 meters looking forward 100.000000 meters along route # Maximum depth: 3596.500431 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3534.430014 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.967451; longitude = -108.869481; duration = 423; initialDepth = 3549.221789; finalDepth = 3534.430014; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.682761 # Actual altitude: 67.682761 # Commanded vehicle depth: 3534.430014 # Seafloor depth: -3584.801452 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 105.801688 meters # Minimum depth: 3599.221789 meters looking forward 100.000000 meters along route # Maximum depth: 3623.947686 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3549.221789 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.967762; longitude = -108.870464; duration = 423; initialDepth = 3550.363227; finalDepth = 3549.221789; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3714380000001 # Actual altitude: 50.3714380000001 # Commanded vehicle depth: 3549.221789 # Seafloor depth: -3599.221789 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 105.801405 meters # Minimum depth: 3600.363227 meters looking forward 100.000000 meters along route # Maximum depth: 3625.847660 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3550.363227 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.968073; longitude = -108.871447; duration = 423; initialDepth = 3503.018201; finalDepth = 3550.363227; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.4309720000001 # Actual altitude: 74.4309720000001 # Commanded vehicle depth: 3550.363227 # Seafloor depth: -3624.794199 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 105.801122 meters # Minimum depth: 3553.018201 meters looking forward 100.000000 meters along route # Maximum depth: 3594.576316 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3503.018201 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.968384; longitude = -108.872429; duration = 423; initialDepth = 3482.611405; finalDepth = 3503.018201; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.5581150000003 # Actual altitude: 91.5581150000003 # Commanded vehicle depth: 3503.018201 # Seafloor depth: -3594.576316 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 105.800838 meters # Minimum depth: 3532.611405 meters looking forward 100.000000 meters along route # Maximum depth: 3552.317614 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3482.611405 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.968695; longitude = -108.873412; duration = 423; initialDepth = 3472.482712; finalDepth = 3482.611405; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.5581150000003 # Actual altitude: 91.5581150000003 # Commanded vehicle depth: 3482.611405 # Seafloor depth: -3552.317614 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 106.715700 meters # Minimum depth: 3522.482712 meters looking forward 100.000000 meters along route # Maximum depth: 3531.569693 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3472.482712 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.969007; longitude = -108.874394; duration = 426; initialDepth = 3463.385254; finalDepth = 3472.482712; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.7062089999999 # Actual altitude: 69.7062089999999 # Commanded vehicle depth: 3472.482712 # Seafloor depth: -3531.569693 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 104.885126 meters # Minimum depth: 3513.385254 meters looking forward 100.000000 meters along route # Maximum depth: 3522.383321 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3463.385254 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.969321; longitude = -108.875386; duration = 419; initialDepth = 3452.469889; finalDepth = 3463.385254; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.0869809999999 # Actual altitude: 59.0869809999999 # Commanded vehicle depth: 3463.385254 # Seafloor depth: -3522.383321 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 109.961933 meters # Minimum depth: 3502.469889 meters looking forward 100.000000 meters along route # Maximum depth: 3512.630959 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3452.469889 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.969629; longitude = -108.876360; duration = 439; initialDepth = 3446.287739; finalDepth = 3452.469889; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.1610700000001 # Actual altitude: 60.1610700000001 # Commanded vehicle depth: 3452.469889 # Seafloor depth: -3512.630959 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 18.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.637759 meters # Minimum depth: 3496.287739 meters looking forward 100.000000 meters along route # Maximum depth: 3502.120853 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3446.287739 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.969953; longitude = -108.877381; duration = 406; initialDepth = 3441.797271; finalDepth = 3446.287739; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.1610700000001 # Actual altitude: 60.1610700000001 # Commanded vehicle depth: 3446.287739 # Seafloor depth: -3502.120853 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 18.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 105.799421 meters # Minimum depth: 3491.797271 meters looking forward 100.000000 meters along route # Maximum depth: 3495.619064 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3441.797271 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.970252; longitude = -108.878325; duration = 423; initialDepth = 3439.935951; finalDepth = 3441.797271; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.833114 # Actual altitude: 55.833114 # Commanded vehicle depth: 3441.797271 # Seafloor depth: -3495.619064 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 105.799138 meters # Minimum depth: 3489.935951 meters looking forward 100.000000 meters along route # Maximum depth: 3491.782344 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3439.935951 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.970563; longitude = -108.879308; duration = 423; initialDepth = 3430.305423; finalDepth = 3439.935951; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.8217930000001 # Actual altitude: 53.8217930000001 # Commanded vehicle depth: 3439.935951 # Seafloor depth: -3491.782344 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 105.798854 meters # Minimum depth: 3480.305423 meters looking forward 100.000000 meters along route # Maximum depth: 3489.661359 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3430.305423 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.970874; longitude = -108.880290; duration = 423; initialDepth = 3420.714040; finalDepth = 3430.305423; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.3559360000004 # Actual altitude: 59.3559360000004 # Commanded vehicle depth: 3430.305423 # Seafloor depth: -3489.661359 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 105.798571 meters # Minimum depth: 3470.714040 meters looking forward 100.000000 meters along route # Maximum depth: 3479.091905 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3420.714040 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.971185; longitude = -108.881273; duration = 423; initialDepth = 3415.622311; finalDepth = 3420.714040; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.3559360000004 # Actual altitude: 59.3559360000004 # Commanded vehicle depth: 3420.71404 # Seafloor depth: -3479.091905 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 105.798288 meters # Minimum depth: 3465.622311 meters looking forward 100.000000 meters along route # Maximum depth: 3470.470554 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3415.622311 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.971497; longitude = -108.882255; duration = 423; initialDepth = 3411.586400; finalDepth = 3415.622311; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.3778650000004 # Actual altitude: 58.3778650000004 # Commanded vehicle depth: 3415.622311 # Seafloor depth: -3470.470554 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 105.977585 meters # Minimum depth: 3461.586400 meters looking forward 100.000000 meters along route # Maximum depth: 3465.333626 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3411.586400 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.971808; longitude = -108.883238; duration = 423; initialDepth = 3407.175727; finalDepth = 3411.586400; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8482429999999 # Actual altitude: 54.8482429999999 # Commanded vehicle depth: 3411.5864 # Seafloor depth: -3465.333626 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.141340 meters # Minimum depth: 3457.175727 meters looking forward 100.000000 meters along route # Maximum depth: 3461.580069 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3407.175727 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.972120; longitude = -108.884222; duration = 408; initialDepth = 3406.947815; finalDepth = 3407.175727; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.4043420000003 # Actual altitude: 54.4043420000003 # Commanded vehicle depth: 3407.175727 # Seafloor depth: -3461.580069 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 150.330016 meters # Minimum depth: 3456.947815 meters looking forward 100.000000 meters along route # Maximum depth: 3457.803404 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3406.947815 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.972420; longitude = -108.885171; duration = 601; # abortOnTimeout = True; initialDepth = 3407.908386; finalDepth = 3406.947815; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.4043420000003 # Actual altitude: 54.4043420000003 # Commanded vehicle depth: 3406.947815 # Seafloor depth: -3456.947815 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 123.585505 meters # Minimum depth: 3457.908386 meters looking forward 100.000000 meters along route # Maximum depth: 3464.244097 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3407.908386 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.971066; longitude = -108.885072; duration = 494; # abortOnTimeout = True; initialDepth = 3414.772973; finalDepth = 3407.908386; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3407.908386 # Seafloor depth: -3457.908386 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 105.956170 meters # Minimum depth: 3464.772973 meters looking forward 100.000000 meters along route # Maximum depth: 3468.793251 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3414.772973 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.970698; longitude = -108.883926; duration = 423; initialDepth = 3419.134581; finalDepth = 3414.772973; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3414.772973 # Seafloor depth: -3464.772973 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 105.956455 meters # Minimum depth: 3469.134581 meters looking forward 100.000000 meters along route # Maximum depth: 3474.803492 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3419.134581 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.970382; longitude = -108.882943; duration = 423; initialDepth = 3425.443287; finalDepth = 3419.134581; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3419.134581 # Seafloor depth: -3469.134581 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 105.956741 meters # Minimum depth: 3475.443287 meters looking forward 100.000000 meters along route # Maximum depth: 3482.434117 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3425.443287 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.970067; longitude = -108.881961; duration = 423; initialDepth = 3433.028837; finalDepth = 3425.443287; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3425.443287 # Seafloor depth: -3475.443287 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 105.957028 meters # Minimum depth: 3483.028837 meters looking forward 100.000000 meters along route # Maximum depth: 3486.638825 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3433.028837 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.969751; longitude = -108.880978; duration = 423; initialDepth = 3435.662266; finalDepth = 3433.028837; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3433.028837 # Seafloor depth: -3483.028837 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 105.957314 meters # Minimum depth: 3485.662266 meters looking forward 100.000000 meters along route # Maximum depth: 3488.696582 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3435.662266 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.969436; longitude = -108.879995; duration = 423; initialDepth = 3439.224279; finalDepth = 3435.662266; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3976050000001 # Actual altitude: 50.3976050000001 # Commanded vehicle depth: 3435.662266 # Seafloor depth: -3486.059871 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 105.957600 meters # Minimum depth: 3489.224279 meters looking forward 100.000000 meters along route # Maximum depth: 3495.413141 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3439.224279 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.969120; longitude = -108.879013; duration = 423; initialDepth = 3446.058266; finalDepth = 3439.224279; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3976050000001 # Actual altitude: 50.3976050000001 # Commanded vehicle depth: 3439.224279 # Seafloor depth: -3489.224279 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 105.957886 meters # Minimum depth: 3496.058266 meters looking forward 100.000000 meters along route # Maximum depth: 3505.416180 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3446.058266 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.968805; longitude = -108.878030; duration = 423; initialDepth = 3456.003791; finalDepth = 3446.058266; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3446.058266 # Seafloor depth: -3496.058266 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 105.958173 meters # Minimum depth: 3506.003791 meters looking forward 100.000000 meters along route # Maximum depth: 3513.699472 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3456.003791 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.968489; longitude = -108.877048; duration = 423; initialDepth = 3464.585544; finalDepth = 3456.003791; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3456.003791 # Seafloor depth: -3506.003791 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 105.958458 meters # Minimum depth: 3514.585544 meters looking forward 100.000000 meters along route # Maximum depth: 3523.485060 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3464.585544 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.968174; longitude = -108.876065; duration = 423; initialDepth = 3473.984186; finalDepth = 3464.585544; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3464.585544 # Seafloor depth: -3514.585544 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 105.958746 meters # Minimum depth: 3523.984186 meters looking forward 100.000000 meters along route # Maximum depth: 3538.370923 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3473.984186 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.967858; longitude = -108.875082; duration = 423; initialDepth = 3490.774258; finalDepth = 3473.984186; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3473.984186 # Seafloor depth: -3523.984186 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 105.959031 meters # Minimum depth: 3540.774258 meters looking forward 100.000000 meters along route # Maximum depth: 3563.756461 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3490.774258 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.967542; longitude = -108.874100; duration = 423; initialDepth = 3515.403583; finalDepth = 3490.774258; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3490.774258 # Seafloor depth: -3540.774258 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 105.959318 meters # Minimum depth: 3565.403583 meters looking forward 100.000000 meters along route # Maximum depth: 3622.863842 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3515.403583 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.967227; longitude = -108.873117; duration = 423; initialDepth = 3543.795296; finalDepth = 3515.403583; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3515.403583 # Seafloor depth: -3565.403583 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 105.959604 meters # Minimum depth: 3629.936816 meters looking forward 100.000000 meters along route # Maximum depth: 3647.422978 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3543.795296 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.966911; longitude = -108.872134; duration = 423; initialDepth = 3562.936254; finalDepth = 3543.795296; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.1415198185159 # Actual altitude: 86.1415198185159 # Commanded vehicle depth: 3543.79529618148 # Seafloor depth: -3629.936816 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 105.959891 meters # Minimum depth: 3612.936254 meters looking forward 100.000000 meters along route # Maximum depth: 3636.448216 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3562.936254 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.966596; longitude = -108.871152; duration = 423; initialDepth = 3558.602039; finalDepth = 3562.936254; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.1415198185159 # Actual altitude: 86.1415198185159 # Commanded vehicle depth: 3562.936254 # Seafloor depth: -3636.448216 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 105.960177 meters # Minimum depth: 3608.602039 meters looking forward 100.000000 meters along route # Maximum depth: 3612.322976 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3558.602039 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.966280; longitude = -108.870169; duration = 423; initialDepth = 3563.061970; finalDepth = 3558.602039; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.5119619999996 # Actual altitude: 73.5119619999996 # Commanded vehicle depth: 3558.602039 # Seafloor depth: -3611.658084 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 105.960464 meters # Minimum depth: 3613.061970 meters looking forward 100.000000 meters along route # Maximum depth: 3628.244548 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3563.061970 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.965965; longitude = -108.869187; duration = 423; initialDepth = 3580.028277; finalDepth = 3563.061970; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0560450000003 # Actual altitude: 53.0560450000003 # Commanded vehicle depth: 3563.06197 # Seafloor depth: -3613.061970 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 105.960750 meters # Minimum depth: 3630.028277 meters looking forward 100.000000 meters along route # Maximum depth: 3653.262624 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3580.028277 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.965649; longitude = -108.868204; duration = 423; initialDepth = 3604.589511; finalDepth = 3580.028277; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3580.028277 # Seafloor depth: -3630.028277 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 105.961037 meters # Minimum depth: 3654.589511 meters looking forward 100.000000 meters along route # Maximum depth: 3669.813938 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3604.589511 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.965334; longitude = -108.867221; duration = 423; initialDepth = 3620.466766; finalDepth = 3604.589511; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3604.589511 # Seafloor depth: -3654.589511 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 105.961323 meters # Minimum depth: 3670.466766 meters looking forward 100.000000 meters along route # Maximum depth: 3678.745022 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3620.466766 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.965018; longitude = -108.866239; duration = 423; initialDepth = 3629.165041; finalDepth = 3620.466766; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3620.466766 # Seafloor depth: -3670.466766 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 105.961610 meters # Minimum depth: 3679.165041 meters looking forward 100.000000 meters along route # Maximum depth: 3684.090327 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3629.165041 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.964702; longitude = -108.865256; duration = 423; initialDepth = 3634.316822; finalDepth = 3629.165041; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3629.165041 # Seafloor depth: -3679.165041 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 105.961896 meters # Minimum depth: 3684.316822 meters looking forward 100.000000 meters along route # Maximum depth: 3692.905551 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3634.316822 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.964387; longitude = -108.864273; duration = 423; initialDepth = 3643.690040; finalDepth = 3634.316822; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3634.316822 # Seafloor depth: -3684.316822 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 105.962184 meters # Minimum depth: 3693.690040 meters looking forward 100.000000 meters along route # Maximum depth: 3708.382141 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3643.690040 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.964071; longitude = -108.863291; duration = 423; initialDepth = 3659.074816; finalDepth = 3643.690040; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3643.69004 # Seafloor depth: -3693.690040 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 105.962469 meters # Minimum depth: 3709.074816 meters looking forward 100.000000 meters along route # Maximum depth: 3711.650205 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3659.074816 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.963756; longitude = -108.862308; duration = 423; initialDepth = 3661.746881; finalDepth = 3659.074816; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3659.074816 # Seafloor depth: -3709.074816 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 108.861335 meters # Minimum depth: 3711.746881 meters looking forward 100.000000 meters along route # Maximum depth: 3714.862517 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3661.746881 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.963440; longitude = -108.861326; duration = 435; initialDepth = 3664.289070; finalDepth = 3661.746881; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3661.746881 # Seafloor depth: -3711.746881 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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 17 # Segment length 150.007975 meters # Minimum depth: 3714.289070 meters looking forward 100.000000 meters along route # Maximum depth: 3715.095546 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3664.289070 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.963116; longitude = -108.860316; duration = 600; # abortOnTimeout = True; initialDepth = 3660.659994; finalDepth = 3664.289070; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.7776410000001 # Actual altitude: 50.7776410000001 # Commanded vehicle depth: 3664.28907 # Seafloor depth: -3715.066711 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 99.121646 meters # Minimum depth: 3710.659994 meters looking forward 100.000000 meters along route # Maximum depth: 3715.231506 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3660.659994 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.961837; longitude = -108.860800; duration = 396; # abortOnTimeout = True; initialDepth = 3656.934422; finalDepth = 3660.659994; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.571512 # Actual altitude: 54.571512 # Commanded vehicle depth: 3660.659994 # Seafloor depth: -3715.231506 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 108.534082 meters # Minimum depth: 3706.934422 meters looking forward 100.000000 meters along route # Maximum depth: 3710.099328 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3656.934422 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.962134; longitude = -108.861719; duration = 434; initialDepth = 3647.689302; finalDepth = 3656.934422; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.571512 # Actual altitude: 54.571512 # Commanded vehicle depth: 3656.934422 # Seafloor depth: -3710.099328 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 103.536150 meters # Minimum depth: 3697.689302 meters looking forward 100.000000 meters along route # Maximum depth: 3706.803377 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3647.689302 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.962459; longitude = -108.862724; duration = 414; initialDepth = 3639.104955; finalDepth = 3647.689302; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.114075 # Actual altitude: 59.114075 # Commanded vehicle depth: 3647.689302 # Seafloor depth: -3706.803377 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 107.524411 meters # Minimum depth: 3689.104955 meters looking forward 100.000000 meters along route # Maximum depth: 3696.299977 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3639.104955 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.962769; longitude = -108.863684; duration = 430; initialDepth = 3635.326596; finalDepth = 3639.104955; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.114075 # Actual altitude: 59.114075 # Commanded vehicle depth: 3639.104955 # Seafloor depth: -3696.299977 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 104.544669 meters # Minimum depth: 3685.326596 meters looking forward 100.000000 meters along route # Maximum depth: 3689.104363 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3635.326596 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.963091; longitude = -108.864680; duration = 418; initialDepth = 3626.400102; finalDepth = 3635.326596; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.1950220000003 # Actual altitude: 57.1950220000003 # Commanded vehicle depth: 3635.326596 # Seafloor depth: -3689.104363 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 106.514751 meters # Minimum depth: 3676.400102 meters looking forward 100.000000 meters along route # Maximum depth: 3684.461684 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3626.400102 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.963404; longitude = -108.865649; duration = 426; initialDepth = 3624.610717; finalDepth = 3626.400102; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.0615819999998 # Actual altitude: 58.0615819999998 # Commanded vehicle depth: 3626.400102 # Seafloor depth: -3684.461684 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 105.553179 meters # Minimum depth: 3674.610717 meters looking forward 100.000000 meters along route # Maximum depth: 3676.384354 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3624.610717 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.963723; longitude = -108.866636; duration = 422; initialDepth = 3605.886549; finalDepth = 3624.610717; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.0615819999998 # Actual altitude: 58.0615819999998 # Commanded vehicle depth: 3624.610717 # Seafloor depth: -3676.384354 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 106.033532 meters # Minimum depth: 3655.886549 meters looking forward 100.000000 meters along route # Maximum depth: 3673.858669 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3605.886549 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.964039; longitude = -108.867614; duration = 424; initialDepth = 3595.330616; finalDepth = 3605.886549; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.9721200000004 # Actual altitude: 67.9721200000004 # Commanded vehicle depth: 3605.886549 # Seafloor depth: -3673.858669 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 106.033245 meters # Minimum depth: 3645.330616 meters looking forward 100.000000 meters along route # Maximum depth: 3655.778567 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3595.330616 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.964356; longitude = -108.868597; duration = 424; initialDepth = 3589.459272; finalDepth = 3595.330616; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.9721200000004 # Actual altitude: 67.9721200000004 # Commanded vehicle depth: 3595.330616 # Seafloor depth: -3655.778567 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 106.032958 meters # Minimum depth: 3639.459272 meters looking forward 100.000000 meters along route # Maximum depth: 3644.517580 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3589.459272 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.964674; longitude = -108.869580; duration = 424; initialDepth = 3589.540764; finalDepth = 3589.459272; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.4479509999996 # Actual altitude: 60.4479509999996 # Commanded vehicle depth: 3589.459272 # Seafloor depth: -3644.517580 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 18.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 106.032669 meters # Minimum depth: 3639.540764 meters looking forward 100.000000 meters along route # Maximum depth: 3654.993418 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3589.540764 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.964991; longitude = -108.870562; duration = 424; initialDepth = 3554.974041; finalDepth = 3589.540764; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.0583080000001 # Actual altitude: 55.0583080000001 # Commanded vehicle depth: 3589.540764 # Seafloor depth: -3639.540764 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 106.032382 meters # Minimum depth: 3604.974041 meters looking forward 100.000000 meters along route # Maximum depth: 3655.996654 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3554.974041 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.965309; longitude = -108.871545; duration = 424; initialDepth = 3509.064096; finalDepth = 3554.974041; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 101.022613 # Actual altitude: 100 # Commanded vehicle depth: 3554.974041 # Seafloor depth: -3655.996654 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 106.032094 meters # Minimum depth: 3559.064096 meters looking forward 100.000000 meters along route # Maximum depth: 3602.951176 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3509.064096 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.965626; longitude = -108.872527; duration = 424; initialDepth = 3489.265498; finalDepth = 3509.064096; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 101.022613 # Actual altitude: 100 # Commanded vehicle depth: 3509.064096 # Seafloor depth: -3602.951176 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 106.031807 meters # Minimum depth: 3539.265498 meters looking forward 100.000000 meters along route # Maximum depth: 3557.280613 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3489.265498 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.965944; longitude = -108.873510; duration = 424; initialDepth = 3476.040495; finalDepth = 3489.265498; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 93.88708 # Actual altitude: 93.88708 # Commanded vehicle depth: 3489.265498 # Seafloor depth: -3557.280613 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 106.031519 meters # Minimum depth: 3526.040495 meters looking forward 100.000000 meters along route # Maximum depth: 3538.558478 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3476.040495 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.966262; longitude = -108.874493; duration = 424; initialDepth = 3462.723192; finalDepth = 3476.040495; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.0151149999997 # Actual altitude: 68.0151149999997 # Commanded vehicle depth: 3476.040495 # Seafloor depth: -3538.558478 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 106.031231 meters # Minimum depth: 3512.723192 meters looking forward 100.000000 meters along route # Maximum depth: 3525.200676 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3462.723192 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.966579; longitude = -108.875475; duration = 424; initialDepth = 3452.825307; finalDepth = 3462.723192; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.5179829999997 # Actual altitude: 62.5179829999997 # Commanded vehicle depth: 3462.723192 # Seafloor depth: -3525.200676 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 18.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 106.030944 meters # Minimum depth: 3502.825307 meters looking forward 100.000000 meters along route # Maximum depth: 3512.070260 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3452.825307 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.966897; longitude = -108.876458; duration = 424; initialDepth = 3443.483733; finalDepth = 3452.825307; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.477484 # Actual altitude: 62.477484 # Commanded vehicle depth: 3452.825307 # Seafloor depth: -3512.070260 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 18.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.457021 meters # Minimum depth: 3493.483733 meters looking forward 100.000000 meters along route # Maximum depth: 3501.910848 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3443.483733 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.967214; longitude = -108.877441; duration = 401; initialDepth = 3440.659688; finalDepth = 3443.483733; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.2449529999999 # Actual altitude: 59.2449529999999 # Commanded vehicle depth: 3443.483733 # Seafloor depth: -3501.910848 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 101.000979 meters # Minimum depth: 3490.659688 meters looking forward 100.000000 meters along route # Maximum depth: 3493.246205 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3440.659688 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.967515; longitude = -108.878372; duration = 404; initialDepth = 3437.284277; finalDepth = 3440.659688; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.427115 # Actual altitude: 58.427115 # Commanded vehicle depth: 3440.659688 # Seafloor depth: -3493.246205 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 110.050463 meters # Minimum depth: 3487.284277 meters looking forward 100.000000 meters along route # Maximum depth: 3490.140268 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3437.284277 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.967817; longitude = -108.879308; duration = 440; initialDepth = 3432.081465; finalDepth = 3437.284277; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.8559909999999 # Actual altitude: 52.8559909999999 # Commanded vehicle depth: 3437.284277 # Seafloor depth: -3490.140268 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 102.009470 meters # Minimum depth: 3482.081465 meters looking forward 100.000000 meters along route # Maximum depth: 3487.249634 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3432.081465 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.968147; longitude = -108.880327; duration = 408; initialDepth = 3418.985865; finalDepth = 3432.081465; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.1681689999996 # Actual altitude: 55.1681689999996 # Commanded vehicle depth: 3432.081465 # Seafloor depth: -3487.249634 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 109.040832 meters # Minimum depth: 3468.985865 meters looking forward 100.000000 meters along route # Maximum depth: 3480.822417 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3418.985865 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.968452; longitude = -108.881273; duration = 436; initialDepth = 3418.092551; finalDepth = 3418.985865; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.8365519999998 # Actual altitude: 61.8365519999998 # Commanded vehicle depth: 3418.985865 # Seafloor depth: -3480.822417 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 18.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 103.017950 meters # Minimum depth: 3468.092551 meters looking forward 100.000000 meters along route # Maximum depth: 3468.981305 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3418.092551 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.968779; longitude = -108.882283; duration = 412; initialDepth = 3413.290441; finalDepth = 3418.092551; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.8365519999998 # Actual altitude: 61.8365519999998 # Commanded vehicle depth: 3418.092551 # Seafloor depth: -3468.831359 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 18.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 108.031214 meters # Minimum depth: 3463.290441 meters looking forward 100.000000 meters along route # Maximum depth: 3469.022534 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3413.290441 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.969087; longitude = -108.883238; duration = 432; initialDepth = 3408.539822; finalDepth = 3413.290441; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.7320930000001 # Actual altitude: 55.7320930000001 # Commanded vehicle depth: 3413.290441 # Seafloor depth: -3469.022534 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.542029 meters # Minimum depth: 3458.539822 meters looking forward 100.000000 meters along route # Maximum depth: 3463.176586 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3408.539822 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.969411; longitude = -108.884239; duration = 402; initialDepth = 3407.613082; finalDepth = 3408.539822; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.7320930000001 # Actual altitude: 55.7320930000001 # Commanded vehicle depth: 3408.539822 # Seafloor depth: -3463.176586 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.72; 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 15 # Segment length 160.072504 meters # Minimum depth: 3457.613082 meters looking forward 100.000000 meters along route # Maximum depth: 3458.495115 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3407.613082 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.969712; longitude = -108.885171; duration = 640; # abortOnTimeout = True; initialDepth = 3407.663574; finalDepth = 3407.613082; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.6367639999999 # Actual altitude: 54.6367639999999 # Commanded vehicle depth: 3407.613082 # Seafloor depth: -3458.216858 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 144.938096 meters # Minimum depth: 3457.663574 meters looking forward 100.000000 meters along route # Maximum depth: 3465.963192 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3407.663574 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.968267; longitude = -108.885171; duration = 579; # abortOnTimeout = True; initialDepth = 3416.416283; finalDepth = 3407.663574; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6037759999999 # Actual altitude: 50.6037759999999 # Commanded vehicle depth: 3407.663574 # Seafloor depth: -3457.663574 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 106.488977 meters # Minimum depth: 3466.416283 meters looking forward 100.000000 meters along route # Maximum depth: 3470.473938 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3416.416283 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.967833; longitude = -108.883828; duration = 425; initialDepth = 3420.496398; finalDepth = 3416.416283; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3416.416283 # Seafloor depth: -3466.416283 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 105.543513 meters # Minimum depth: 3470.496398 meters looking forward 100.000000 meters along route # Maximum depth: 3475.849009 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3420.496398 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.967515; longitude = -108.882841; duration = 422; initialDepth = 3426.574647; finalDepth = 3420.496398; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3420.496398 # Seafloor depth: -3470.496398 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 106.016675 meters # Minimum depth: 3476.574647 meters looking forward 100.000000 meters along route # Maximum depth: 3481.219328 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3426.574647 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.967199; longitude = -108.881862; duration = 424; initialDepth = 3431.233340; finalDepth = 3426.574647; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3426.574647 # Seafloor depth: -3476.574647 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 106.016963 meters # Minimum depth: 3481.233340 meters looking forward 100.000000 meters along route # Maximum depth: 3486.984039 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3431.233340 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.966882; longitude = -108.880880; duration = 424; initialDepth = 3437.397920; finalDepth = 3431.233340; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3431.23334 # Seafloor depth: -3481.233340 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 106.017250 meters # Minimum depth: 3487.397920 meters looking forward 100.000000 meters along route # Maximum depth: 3489.579530 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3437.397920 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.966565; longitude = -108.879897; duration = 424; initialDepth = 3439.613517; finalDepth = 3437.397920; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3437.39792 # Seafloor depth: -3487.397920 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 106.017537 meters # Minimum depth: 3489.613517 meters looking forward 100.000000 meters along route # Maximum depth: 3495.002222 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3439.613517 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.966248; longitude = -108.878914; duration = 424; initialDepth = 3445.764850; finalDepth = 3439.613517; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3439.613517 # Seafloor depth: -3489.613517 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 106.017825 meters # Minimum depth: 3495.764850 meters looking forward 100.000000 meters along route # Maximum depth: 3506.812406 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3445.764850 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.965931; longitude = -108.877932; duration = 424; initialDepth = 3457.007470; finalDepth = 3445.764850; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3445.76485 # Seafloor depth: -3495.764850 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 106.018112 meters # Minimum depth: 3507.007470 meters looking forward 100.000000 meters along route # Maximum depth: 3519.539820 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3457.007470 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.965613; longitude = -108.876949; duration = 424; initialDepth = 3471.119193; finalDepth = 3457.007470; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3457.00747 # Seafloor depth: -3507.007470 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 106.018399 meters # Minimum depth: 3521.119193 meters looking forward 100.000000 meters along route # Maximum depth: 3532.015688 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3471.119193 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.965296; longitude = -108.875967; duration = 424; initialDepth = 3482.274660; finalDepth = 3471.119193; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3471.119193 # Seafloor depth: -3521.119193 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 106.018686 meters # Minimum depth: 3532.274660 meters looking forward 100.000000 meters along route # Maximum depth: 3546.955290 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3482.274660 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.964979; longitude = -108.874984; duration = 424; initialDepth = 3499.083426; finalDepth = 3482.274660; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3482.27466 # Seafloor depth: -3532.274660 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 106.018974 meters # Minimum depth: 3549.083426 meters looking forward 100.000000 meters along route # Maximum depth: 3571.451306 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3499.083426 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.964662; longitude = -108.874001; duration = 424; initialDepth = 3522.846788; finalDepth = 3499.083426; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3499.083426 # Seafloor depth: -3549.083426 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 106.019262 meters # Minimum depth: 3572.846788 meters looking forward 100.000000 meters along route # Maximum depth: 3648.368389 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3522.846788 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.964345; longitude = -108.873019; duration = 424; initialDepth = 3551.254563; finalDepth = 3522.846788; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3522.846788 # Seafloor depth: -3572.846788 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 106.019548 meters # Minimum depth: 3655.069700 meters looking forward 100.000000 meters along route # Maximum depth: 3667.099015 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3551.254563 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.964028; longitude = -108.872036; duration = 424; initialDepth = 3579.662415; finalDepth = 3551.254563; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 103.815136872412 # Actual altitude: 100 # Commanded vehicle depth: 3551.25456312759 # Seafloor depth: -3655.069700 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 106.019837 meters # Minimum depth: 3663.430878 meters looking forward 100.000000 meters along route # Maximum depth: 3669.582855 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3579.662415 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.963711; longitude = -108.871053; duration = 424; initialDepth = 3608.070344; finalDepth = 3579.662415; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 103.815136872412 # Actual altitude: 100 # Commanded vehicle depth: 3579.66241488864 # Seafloor depth: -3663.764560 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 106.020123 meters # Minimum depth: 3670.412746 meters looking forward 100.000000 meters along route # Maximum depth: 3672.336534 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3608.070344 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.963394; longitude = -108.870071; duration = 424; initialDepth = 3621.731969; finalDepth = 3608.070344; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.1021451113565 # Actual altitude: 84.1021451113565 # Commanded vehicle depth: 3608.07034408701 # Seafloor depth: -3670.412746 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 106.020412 meters # Minimum depth: 3671.731969 meters looking forward 100.000000 meters along route # Maximum depth: 3673.884178 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3621.731969 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.963076; longitude = -108.869088; duration = 424; initialDepth = 3624.334337; finalDepth = 3621.731969; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.3424019129857 # Actual altitude: 62.3424019129857 # Commanded vehicle depth: 3621.731969 # Seafloor depth: -3671.731969 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 18.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 100.454724 meters # Minimum depth: 3674.334337 meters looking forward 100.000000 meters along route # Maximum depth: 3677.293213 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3624.334337 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.962759; longitude = -108.868106; duration = 401; initialDepth = 3627.409403; finalDepth = 3624.334337; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3624.334337 # Seafloor depth: -3674.334337 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 100.984849 meters # Minimum depth: 3677.409403 meters looking forward 100.000000 meters along route # Maximum depth: 3681.354806 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3627.409403 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.962459; longitude = -108.867175; duration = 403; initialDepth = 3631.975741; finalDepth = 3627.409403; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3627.409403 # Seafloor depth: -3677.409403 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 110.302518 meters # Minimum depth: 3681.975741 meters looking forward 100.000000 meters along route # Maximum depth: 3685.801037 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3631.975741 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.962157; longitude = -108.866239; duration = 441; initialDepth = 3635.962678; finalDepth = 3631.975741; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3631.975741 # Seafloor depth: -3681.975741 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.740260 meters # Minimum depth: 3685.962678 meters looking forward 100.000000 meters along route # Maximum depth: 3688.562172 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3635.962678 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.961827; longitude = -108.865216; duration = 406; initialDepth = 3639.026962; finalDepth = 3635.962678; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3635.962678 # Seafloor depth: -3685.962678 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 109.548249 meters # Minimum depth: 3689.026962 meters looking forward 100.000000 meters along route # Maximum depth: 3698.620343 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3639.026962 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.961522; longitude = -108.864273; duration = 438; initialDepth = 3648.898333; finalDepth = 3639.026962; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3639.026962 # Seafloor depth: -3689.026962 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 102.495679 meters # Minimum depth: 3698.898333 meters looking forward 100.000000 meters along route # Maximum depth: 3706.190487 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3648.898333 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.961195; longitude = -108.863258; duration = 409; initialDepth = 3657.087856; finalDepth = 3648.898333; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3648.898333 # Seafloor depth: -3698.898333 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 110.392706 meters # Minimum depth: 3707.087856 meters looking forward 100.000000 meters along route # Maximum depth: 3712.879158 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3657.087856 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.960888; longitude = -108.862308; duration = 441; initialDepth = 3652.235558; finalDepth = 3657.087856; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3657.087856 # Seafloor depth: -3707.087856 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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 13 # Segment length 150.041643 meters # Minimum depth: 3702.235558 meters looking forward 100.000000 meters along route # Maximum depth: 3712.591064 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3652.235558 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.960558; longitude = -108.861285; duration = 600; # abortOnTimeout = True; initialDepth = 3640.756424; finalDepth = 3652.235558; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 60.3555060000003 # Actual altitude: 60.3555060000003 # Commanded vehicle depth: 3652.235558 # Seafloor depth: -3712.591064 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 18.11; 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 12 # Segment length 174.596866 meters # Minimum depth: 3690.756424 meters looking forward 100.000000 meters along route # Maximum depth: 3702.115845 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3640.756424 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.959279; longitude = -108.861770; duration = 698; # abortOnTimeout = True; initialDepth = 3632.952220; finalDepth = 3640.756424; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.3594209999997 # Actual altitude: 61.3594209999997 # Commanded vehicle depth: 3640.756424 # Seafloor depth: -3702.115845 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 18.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 105.967167 meters # Minimum depth: 3682.952220 meters looking forward 100.000000 meters along route # Maximum depth: 3689.928053 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3632.952220 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.959799; longitude = -108.863389; duration = 423; initialDepth = 3628.740638; finalDepth = 3632.952220; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.3594209999997 # Actual altitude: 61.3594209999997 # Commanded vehicle depth: 3632.95222 # Seafloor depth: -3689.928053 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 18.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 105.966881 meters # Minimum depth: 3678.740638 meters looking forward 100.000000 meters along route # Maximum depth: 3682.869625 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3628.740638 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.960115; longitude = -108.864372; duration = 423; initialDepth = 3628.679264; finalDepth = 3628.740638; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.975833 # Actual altitude: 56.975833 # Commanded vehicle depth: 3628.740638 # Seafloor depth: -3682.869625 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 105.966595 meters # Minimum depth: 3678.679264 meters looking forward 100.000000 meters along route # Maximum depth: 3681.987332 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3628.679264 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.960430; longitude = -108.865354; duration = 423; initialDepth = 3624.985183; finalDepth = 3628.679264; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1289869999996 # Actual altitude: 54.1289869999996 # Commanded vehicle depth: 3628.679264 # Seafloor depth: -3678.679264 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 105.966308 meters # Minimum depth: 3674.985183 meters looking forward 100.000000 meters along route # Maximum depth: 3681.986200 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3624.985183 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.960746; longitude = -108.866337; duration = 423; initialDepth = 3621.670076; finalDepth = 3624.985183; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.001017 # Actual altitude: 57.001017 # Commanded vehicle depth: 3624.985183 # Seafloor depth: -3681.986200 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 105.966021 meters # Minimum depth: 3671.670076 meters looking forward 100.000000 meters along route # Maximum depth: 3674.254225 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3621.670076 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.961061; longitude = -108.867320; duration = 423; initialDepth = 3621.667277; finalDepth = 3621.670076; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.001017 # Actual altitude: 57.001017 # Commanded vehicle depth: 3621.670076 # Seafloor depth: -3674.254225 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 105.965735 meters # Minimum depth: 3671.667277 meters looking forward 100.000000 meters along route # Maximum depth: 3673.034429 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3621.667277 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.961377; longitude = -108.868302; duration = 423; initialDepth = 3618.923495; finalDepth = 3621.667277; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5841490000003 # Actual altitude: 52.5841490000003 # Commanded vehicle depth: 3621.667277 # Seafloor depth: -3671.667277 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 105.965449 meters # Minimum depth: 3668.923495 meters looking forward 100.000000 meters along route # Maximum depth: 3672.878440 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3618.923495 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.961693; longitude = -108.869285; duration = 423; initialDepth = 3615.825838; finalDepth = 3618.923495; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.954945 # Actual altitude: 53.954945 # Commanded vehicle depth: 3618.923495 # Seafloor depth: -3672.878440 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 105.965162 meters # Minimum depth: 3665.825838 meters looking forward 100.000000 meters along route # Maximum depth: 3668.906083 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3615.825838 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.962008; longitude = -108.870267; duration = 423; initialDepth = 3596.429071; finalDepth = 3615.825838; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.954945 # Actual altitude: 53.954945 # Commanded vehicle depth: 3615.825838 # Seafloor depth: -3668.906083 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 105.964875 meters # Minimum depth: 3646.429071 meters looking forward 100.000000 meters along route # Maximum depth: 3666.082490 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3596.429071 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.962324; longitude = -108.871250; duration = 423; initialDepth = 3523.457537; finalDepth = 3596.429071; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.5365699999998 # Actual altitude: 69.5365699999998 # Commanded vehicle depth: 3596.429071 # Seafloor depth: -3665.965641 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 105.964589 meters # Minimum depth: 3573.457537 meters looking forward 100.000000 meters along route # Maximum depth: 3646.398865 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3523.457537 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.962640; longitude = -108.872233; duration = 423; initialDepth = 3498.677288; finalDepth = 3523.457537; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 122.941328 # Actual altitude: 100 # Commanded vehicle depth: 3523.457537 # Seafloor depth: -3646.398865 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 106.173190 meters # Minimum depth: 3548.677288 meters looking forward 100.000000 meters along route # Maximum depth: 3568.264203 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3498.677288 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.962955; longitude = -108.873215; duration = 424; initialDepth = 3486.106150; finalDepth = 3498.677288; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 122.941328 # Actual altitude: 100 # Commanded vehicle depth: 3498.677288 # Seafloor depth: -3568.264203 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 105.755129 meters # Minimum depth: 3536.106150 meters looking forward 100.000000 meters along route # Maximum depth: 3548.651173 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3486.106150 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.963271; longitude = -108.874200; duration = 423; initialDepth = 3470.367842; finalDepth = 3486.106150; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.5869150000003 # Actual altitude: 69.5869150000003 # Commanded vehicle depth: 3486.10615 # Seafloor depth: -3548.651173 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 106.435081 meters # Minimum depth: 3520.367842 meters looking forward 100.000000 meters along route # Maximum depth: 3534.594942 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3470.367842 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.963586; longitude = -108.875181; duration = 425; initialDepth = 3458.474456; finalDepth = 3470.367842; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.2271000000001 # Actual altitude: 64.2271000000001 # Commanded vehicle depth: 3470.367842 # Seafloor depth: -3534.594942 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 19.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 105.492093 meters # Minimum depth: 3508.474456 meters looking forward 100.000000 meters along route # Maximum depth: 3520.315077 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3458.474456 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.963903; longitude = -108.876168; duration = 421; initialDepth = 3447.761906; finalDepth = 3458.474456; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.2271000000001 # Actual altitude: 64.2271000000001 # Commanded vehicle depth: 3458.474456 # Seafloor depth: -3520.315077 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 19.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 106.696969 meters # Minimum depth: 3497.761906 meters looking forward 100.000000 meters along route # Maximum depth: 3507.083981 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3447.761906 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.964218; longitude = -108.877146; duration = 426; initialDepth = 3439.864690; finalDepth = 3447.761906; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.8406210000003 # Actual altitude: 61.8406210000003 # Commanded vehicle depth: 3447.761906 # Seafloor depth: -3507.083981 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 18.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 105.229060 meters # Minimum depth: 3489.864690 meters looking forward 100.000000 meters along route # Maximum depth: 3497.705178 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3439.864690 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.964535; longitude = -108.878135; duration = 420; initialDepth = 3434.589803; finalDepth = 3439.864690; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.322075 # Actual altitude: 59.322075 # Commanded vehicle depth: 3439.86469 # Seafloor depth: -3497.705178 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 106.958854 meters # Minimum depth: 3484.589803 meters looking forward 100.000000 meters along route # Maximum depth: 3489.209861 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3434.589803 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.964849; longitude = -108.879111; duration = 427; initialDepth = 3428.657852; finalDepth = 3434.589803; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.8404880000003 # Actual altitude: 57.8404880000003 # Commanded vehicle depth: 3434.589803 # Seafloor depth: -3489.209861 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 104.966030 meters # Minimum depth: 3478.657852 meters looking forward 100.000000 meters along route # Maximum depth: 3484.517286 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3428.657852 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.965167; longitude = -108.880103; duration = 419; initialDepth = 3423.471410; finalDepth = 3428.657852; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.859434 # Actual altitude: 55.859434 # Commanded vehicle depth: 3428.657852 # Seafloor depth: -3484.517286 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 107.220736 meters # Minimum depth: 3473.471410 meters looking forward 100.000000 meters along route # Maximum depth: 3478.319174 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3423.471410 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.965480; longitude = -108.881076; duration = 428; initialDepth = 3421.479951; finalDepth = 3423.471410; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.859434 # Actual altitude: 55.859434 # Commanded vehicle depth: 3423.47141 # Seafloor depth: -3478.319174 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 104.703003 meters # Minimum depth: 3471.479951 meters looking forward 100.000000 meters along route # Maximum depth: 3473.400933 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3421.479951 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.965799; longitude = -108.882071; duration = 418; initialDepth = 3417.759014; finalDepth = 3421.479951; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8477640000001 # Actual altitude: 54.8477640000001 # Commanded vehicle depth: 3421.479951 # Seafloor depth: -3473.400933 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 107.482616 meters # Minimum depth: 3467.759014 meters looking forward 100.000000 meters along route # Maximum depth: 3471.383989 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3417.759014 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.966111; longitude = -108.883042; duration = 429; initialDepth = 3411.716522; finalDepth = 3417.759014; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6249749999997 # Actual altitude: 53.6249749999997 # Commanded vehicle depth: 3417.759014 # Seafloor depth: -3471.383989 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.906586 meters # Minimum depth: 3461.716522 meters looking forward 100.000000 meters along route # Maximum depth: 3467.702836 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3411.716522 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.966431; longitude = -108.884038; duration = 403; initialDepth = 3411.186218; finalDepth = 3411.716522; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.9863139999998 # Actual altitude: 55.9863139999998 # Commanded vehicle depth: 3411.716522 # Seafloor depth: -3467.702836 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 171.110802 meters # Minimum depth: 3461.186218 meters looking forward 100.000000 meters along route # Maximum depth: 3465.510617 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3411.186218 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.966732; longitude = -108.884974; duration = 684; # abortOnTimeout = True; initialDepth = 3414.427490; finalDepth = 3411.186218; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.9863139999998 # Actual altitude: 55.9863139999998 # Commanded vehicle depth: 3411.186218 # Seafloor depth: -3461.186218 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 112.910659 meters # Minimum depth: 3464.427490 meters looking forward 100.000000 meters along route # Maximum depth: 3465.629507 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3414.427490 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.965198; longitude = -108.884777; duration = 451; # abortOnTimeout = True; initialDepth = 3415.585601; finalDepth = 3414.427490; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3414.42749 # Seafloor depth: -3464.427490 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 110.569339 meters # Minimum depth: 3465.585601 meters looking forward 100.000000 meters along route # Maximum depth: 3466.917935 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3415.585601 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.964863; longitude = -108.883729; duration = 442; initialDepth = 3417.137213; finalDepth = 3415.585601; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0089009999997 # Actual altitude: 50.0089009999997 # Commanded vehicle depth: 3415.585601 # Seafloor depth: -3465.594502 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.237555 meters # Minimum depth: 3467.137213 meters looking forward 100.000000 meters along route # Maximum depth: 3471.162126 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3417.137213 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.964535; longitude = -108.882703; duration = 404; initialDepth = 3421.595389; finalDepth = 3417.137213; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0089009999997 # Actual altitude: 50.0089009999997 # Commanded vehicle depth: 3417.137213 # Seafloor depth: -3467.137213 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 105.903875 meters # Minimum depth: 3471.595389 meters looking forward 100.000000 meters along route # Maximum depth: 3478.312460 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3421.595389 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.964235; longitude = -108.881764; duration = 423; initialDepth = 3429.115203; finalDepth = 3421.595389; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3421.595389 # Seafloor depth: -3471.595389 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 105.904160 meters # Minimum depth: 3479.115203 meters looking forward 100.000000 meters along route # Maximum depth: 3485.085493 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3429.115203 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.963921; longitude = -108.880781; duration = 423; initialDepth = 3435.821641; finalDepth = 3429.115203; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3429.115203 # Seafloor depth: -3479.115203 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 105.904445 meters # Minimum depth: 3485.821641 meters looking forward 100.000000 meters along route # Maximum depth: 3495.781803 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3435.821641 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.963607; longitude = -108.879799; duration = 423; initialDepth = 3446.852729; finalDepth = 3435.821641; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3435.821641 # Seafloor depth: -3485.821641 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 105.904730 meters # Minimum depth: 3496.852729 meters looking forward 100.000000 meters along route # Maximum depth: 3506.488710 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3446.852729 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.963293; longitude = -108.878816; duration = 423; initialDepth = 3457.125837; finalDepth = 3446.852729; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3446.852729 # Seafloor depth: -3496.852729 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 105.905015 meters # Minimum depth: 3507.125837 meters looking forward 100.000000 meters along route # Maximum depth: 3516.335641 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3457.125837 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.962979; longitude = -108.877834; duration = 423; initialDepth = 3467.346250; finalDepth = 3457.125837; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3457.125837 # Seafloor depth: -3507.125837 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.106465 meters # Minimum depth: 3517.346250 meters looking forward 100.000000 meters along route # Maximum depth: 3525.430885 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3467.346250 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.962665; longitude = -108.876851; duration = 400; initialDepth = 3475.972870; finalDepth = 3467.346250; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3467.34625 # Seafloor depth: -3517.346250 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.113850 meters # Minimum depth: 3525.972870 meters looking forward 100.000000 meters along route # Maximum depth: 3540.006094 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3475.972870 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.962369; longitude = -108.875922; duration = 404; initialDepth = 3491.578431; finalDepth = 3475.972870; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3475.97287 # Seafloor depth: -3525.972870 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 105.905842 meters # Minimum depth: 3541.578431 meters looking forward 100.000000 meters along route # Maximum depth: 3554.562368 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3491.578431 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.962069; longitude = -108.874984; duration = 423; initialDepth = 3506.023348; finalDepth = 3491.578431; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3491.578431 # Seafloor depth: -3541.578431 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 105.906128 meters # Minimum depth: 3556.023348 meters looking forward 100.000000 meters along route # Maximum depth: 3574.726255 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3506.023348 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.961755; longitude = -108.874001; duration = 423; initialDepth = 3529.280520; finalDepth = 3506.023348; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3506.023348 # Seafloor depth: -3556.023348 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 105.906413 meters # Minimum depth: 3579.280520 meters looking forward 100.000000 meters along route # Maximum depth: 3651.045798 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3529.280520 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.961441; longitude = -108.873019; duration = 423; initialDepth = 3557.658057; finalDepth = 3529.280520; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3529.28052 # Seafloor depth: -3579.280520 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 105.906698 meters # Minimum depth: 3655.499208 meters looking forward 100.000000 meters along route # Maximum depth: 3662.590482 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3557.658057 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.961127; longitude = -108.872036; duration = 423; initialDepth = 3586.035671; finalDepth = 3557.658057; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 97.8411506702892 # Actual altitude: 97.8411506702892 # Commanded vehicle depth: 3557.65805732971 # Seafloor depth: -3655.499208 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 105.906984 meters # Minimum depth: 3661.680077 meters looking forward 100.000000 meters along route # Maximum depth: 3668.914153 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3586.035671 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.960813; longitude = -108.871053; duration = 423; initialDepth = 3614.413361; finalDepth = 3586.035671; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 97.8411506702892 # Actual altitude: 97.8411506702892 # Commanded vehicle depth: 3586.03567102494 # Seafloor depth: -3661.680077 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 105.907269 meters # Minimum depth: 3669.231361 meters looking forward 100.000000 meters along route # Maximum depth: 3669.952722 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3614.413361 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.960499; longitude = -108.870071; duration = 423; initialDepth = 3620.108407; finalDepth = 3614.413361; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.6444059750588 # Actual altitude: 75.6444059750588 # Commanded vehicle depth: 3614.41336135364 # Seafloor depth: -3669.231361 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 105.907555 meters # Minimum depth: 3670.108407 meters looking forward 100.000000 meters along route # Maximum depth: 3673.547811 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3620.108407 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.960185; longitude = -108.869088; duration = 423; initialDepth = 3622.091165; finalDepth = 3620.108407; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8179996463614 # Actual altitude: 54.8179996463614 # Commanded vehicle depth: 3620.108407 # Seafloor depth: -3670.108407 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 105.907839 meters # Minimum depth: 3672.091165 meters looking forward 100.000000 meters along route # Maximum depth: 3673.781786 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3622.091165 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.959871; longitude = -108.868106; duration = 423; initialDepth = 3622.301965; finalDepth = 3622.091165; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5929210000004 # Actual altitude: 51.5929210000004 # Commanded vehicle depth: 3622.091165 # Seafloor depth: -3673.684086 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 105.908126 meters # Minimum depth: 3672.301965 meters looking forward 100.000000 meters along route # Maximum depth: 3675.137197 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3622.301965 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.959557; longitude = -108.867123; duration = 423; initialDepth = 3625.525851; finalDepth = 3622.301965; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5929210000004 # Actual altitude: 51.5929210000004 # Commanded vehicle depth: 3622.301965 # Seafloor depth: -3672.301965 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 105.908410 meters # Minimum depth: 3675.525851 meters looking forward 100.000000 meters along route # Maximum depth: 3677.765261 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3625.525851 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.959243; longitude = -108.866140; duration = 423; initialDepth = 3625.241416; finalDepth = 3625.525851; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3625.525851 # Seafloor depth: -3675.525851 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 105.908697 meters # Minimum depth: 3675.241416 meters looking forward 100.000000 meters along route # Maximum depth: 3677.436361 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3625.241416 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.958929; longitude = -108.865158; duration = 423; initialDepth = 3625.230440; finalDepth = 3625.241416; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1949450000002 # Actual altitude: 52.1949450000002 # Commanded vehicle depth: 3625.241416 # Seafloor depth: -3677.436361 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 105.908981 meters # Minimum depth: 3675.230440 meters looking forward 100.000000 meters along route # Maximum depth: 3680.017897 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3625.230440 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.958615; longitude = -108.864175; duration = 423; initialDepth = 3630.137865; finalDepth = 3625.230440; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1949450000002 # Actual altitude: 52.1949450000002 # Commanded vehicle depth: 3625.23044 # Seafloor depth: -3675.230440 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.152504 meters # Minimum depth: 3680.137865 meters looking forward 100.000000 meters along route # Maximum depth: 3689.541021 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3630.137865 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.958301; longitude = -108.863192; duration = 404; initialDepth = 3623.965461; finalDepth = 3630.137865; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3630.137865 # Seafloor depth: -3680.137865 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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 9 # Segment length 150.041843 meters # Minimum depth: 3673.965461 meters looking forward 100.000000 meters along route # Maximum depth: 3689.989746 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3623.965461 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.958001; longitude = -108.862254; duration = 600; # abortOnTimeout = True; initialDepth = 3620.444516; finalDepth = 3623.965461; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 66.0242850000004 # Actual altitude: 66.0242850000004 # Commanded vehicle depth: 3623.965461 # Seafloor depth: -3689.989746 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 19.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 123.253749 meters # Minimum depth: 3670.444516 meters looking forward 100.000000 meters along route # Maximum depth: 3673.158691 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3620.444516 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.956722; longitude = -108.862739; duration = 493; # abortOnTimeout = True; initialDepth = 3616.735814; finalDepth = 3620.444516; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.0242850000004 # Actual altitude: 66.0242850000004 # Commanded vehicle depth: 3620.444516 # Seafloor depth: -3673.158691 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 19.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 106.114731 meters # Minimum depth: 3666.735814 meters looking forward 100.000000 meters along route # Maximum depth: 3670.103179 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3616.735814 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.957093; longitude = -108.863880; duration = 424; initialDepth = 3616.703343; finalDepth = 3616.735814; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.3673650000001 # Actual altitude: 53.3673650000001 # Commanded vehicle depth: 3616.735814 # Seafloor depth: -3670.103179 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 106.114443 meters # Minimum depth: 3666.703343 meters looking forward 100.000000 meters along route # Maximum depth: 3670.601450 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3616.703343 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.957413; longitude = -108.864863; duration = 424; initialDepth = 3621.397273; finalDepth = 3616.703343; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.3673650000001 # Actual altitude: 53.3673650000001 # Commanded vehicle depth: 3616.703343 # Seafloor depth: -3666.703343 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.411315 meters # Minimum depth: 3671.397273 meters looking forward 100.000000 meters along route # Maximum depth: 3673.670516 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3621.397273 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.957732; longitude = -108.865846; duration = 401; initialDepth = 3621.867407; finalDepth = 3621.397273; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3621.397273 # Seafloor depth: -3671.397273 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.205328 meters # Minimum depth: 3671.867407 meters looking forward 100.000000 meters along route # Maximum depth: 3672.656273 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3621.867407 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.958035; longitude = -108.866775; duration = 404; initialDepth = 3619.896187; finalDepth = 3621.867407; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7888659999999 # Actual altitude: 50.7888659999999 # Commanded vehicle depth: 3621.867407 # Seafloor depth: -3672.656273 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 108.650491 meters # Minimum depth: 3669.896187 meters looking forward 100.000000 meters along route # Maximum depth: 3671.818851 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3619.896187 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.958340; longitude = -108.867713; duration = 434; initialDepth = 3619.038791; finalDepth = 3619.896187; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9226640000002 # Actual altitude: 51.9226640000002 # Commanded vehicle depth: 3619.896187 # Seafloor depth: -3671.818851 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 103.576428 meters # Minimum depth: 3669.038791 meters looking forward 100.000000 meters along route # Maximum depth: 3669.871642 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3619.038791 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.958667; longitude = -108.868719; duration = 414; initialDepth = 3612.718087; finalDepth = 3619.038791; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9226640000002 # Actual altitude: 51.9226640000002 # Commanded vehicle depth: 3619.038791 # Seafloor depth: -3669.871642 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 106.278260 meters # Minimum depth: 3662.718087 meters looking forward 100.000000 meters along route # Maximum depth: 3668.682864 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3612.718087 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.958979; longitude = -108.869678; duration = 425; initialDepth = 3611.182003; finalDepth = 3612.718087; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.9647769999997 # Actual altitude: 55.9647769999997 # Commanded vehicle depth: 3612.718087 # Seafloor depth: -3668.682864 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 105.947502 meters # Minimum depth: 3661.182003 meters looking forward 100.000000 meters along route # Maximum depth: 3662.709643 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3611.182003 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.959299; longitude = -108.870662; duration = 423; initialDepth = 3567.837220; finalDepth = 3611.182003; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.9647769999997 # Actual altitude: 55.9647769999997 # Commanded vehicle depth: 3611.182003 # Seafloor depth: -3662.709643 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 106.112447 meters # Minimum depth: 3617.837220 meters looking forward 100.000000 meters along route # Maximum depth: 3660.773660 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3567.837220 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.959618; longitude = -108.871643; duration = 424; initialDepth = 3518.068873; finalDepth = 3567.837220; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 92.9364399999999 # Actual altitude: 92.9364399999999 # Commanded vehicle depth: 3567.83722 # Seafloor depth: -3660.773660 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 106.112159 meters # Minimum depth: 3568.068873 meters looking forward 100.000000 meters along route # Maximum depth: 3616.213732 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3518.068873 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.959937; longitude = -108.872626; duration = 424; initialDepth = 3500.732119; finalDepth = 3518.068873; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 98.144859 # Actual altitude: 98.144859 # Commanded vehicle depth: 3518.068873 # Seafloor depth: -3616.213732 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 106.111869 meters # Minimum depth: 3550.732119 meters looking forward 100.000000 meters along route # Maximum depth: 3566.280461 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3500.732119 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.960257; longitude = -108.873608; duration = 424; initialDepth = 3486.190121; finalDepth = 3500.732119; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 98.144859 # Actual altitude: 98.144859 # Commanded vehicle depth: 3500.732119 # Seafloor depth: -3566.280461 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 106.111581 meters # Minimum depth: 3536.190121 meters looking forward 100.000000 meters along route # Maximum depth: 3549.998646 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3486.190121 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.960577; longitude = -108.874591; duration = 424; initialDepth = 3473.334271; finalDepth = 3486.190121; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.548342 # Actual altitude: 65.548342 # Commanded vehicle depth: 3486.190121 # Seafloor depth: -3549.998646 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 19.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 106.111291 meters # Minimum depth: 3523.334271 meters looking forward 100.000000 meters along route # Maximum depth: 3534.798113 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3473.334271 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.960896; longitude = -108.875574; duration = 424; initialDepth = 3466.102361; finalDepth = 3473.334271; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.8085249999999 # Actual altitude: 63.8085249999999 # Commanded vehicle depth: 3473.334271 # Seafloor depth: -3534.798113 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 19.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 106.111003 meters # Minimum depth: 3516.102361 meters looking forward 100.000000 meters along route # Maximum depth: 3522.636639 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3466.102361 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.961216; longitude = -108.876556; duration = 424; initialDepth = 3458.151859; finalDepth = 3466.102361; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.4638419999997 # Actual altitude: 61.4638419999997 # Commanded vehicle depth: 3466.102361 # Seafloor depth: -3522.636639 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 18.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 106.110714 meters # Minimum depth: 3508.151859 meters looking forward 100.000000 meters along route # Maximum depth: 3515.335169 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3458.151859 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.961535; longitude = -108.877539; duration = 424; initialDepth = 3444.193731; finalDepth = 3458.151859; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.1833099999999 # Actual altitude: 57.1833099999999 # Commanded vehicle depth: 3458.151859 # Seafloor depth: -3515.335169 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 110.592758 meters # Minimum depth: 3494.193731 meters looking forward 100.000000 meters along route # Maximum depth: 3507.419247 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3444.193731 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.961855; longitude = -108.878521; duration = 442; initialDepth = 3430.301343; finalDepth = 3444.193731; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.225516 # Actual altitude: 63.225516 # Commanded vehicle depth: 3444.193731 # Seafloor depth: -3507.419247 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 18.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.627803 meters # Minimum depth: 3480.301343 meters looking forward 100.000000 meters along route # Maximum depth: 3493.563760 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3430.301343 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.962188; longitude = -108.879546; duration = 406; initialDepth = 3421.507271; finalDepth = 3430.301343; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.2624169999999 # Actual altitude: 63.2624169999999 # Commanded vehicle depth: 3430.301343 # Seafloor depth: -3493.563760 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 18.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 108.220589 meters # Minimum depth: 3471.507271 meters looking forward 100.000000 meters along route # Maximum depth: 3479.005867 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3421.507271 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.962494; longitude = -108.880487; duration = 432; initialDepth = 3417.851441; finalDepth = 3421.507271; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.2624169999999 # Actual altitude: 63.2624169999999 # Commanded vehicle depth: 3421.507271 # Seafloor depth: -3479.005867 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 18.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 103.998817 meters # Minimum depth: 3467.851441 meters looking forward 100.000000 meters along route # Maximum depth: 3471.375267 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3417.851441 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.962820; longitude = -108.881489; duration = 415; initialDepth = 3410.799411; finalDepth = 3417.851441; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.4985959999999 # Actual altitude: 57.4985959999999 # Commanded vehicle depth: 3417.851441 # Seafloor depth: -3471.375267 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 106.109269 meters # Minimum depth: 3460.799411 meters looking forward 100.000000 meters along route # Maximum depth: 3467.531810 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3410.799411 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.963133; longitude = -108.882452; duration = 424; initialDepth = 3408.444583; finalDepth = 3410.799411; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.732399 # Actual altitude: 56.732399 # Commanded vehicle depth: 3410.799411 # Seafloor depth: -3467.531810 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 109.651781 meters # Minimum depth: 3458.444583 meters looking forward 100.000000 meters along route # Maximum depth: 3460.783367 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3408.444583 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.963453; longitude = -108.883435; duration = 438; initialDepth = 3405.756582; finalDepth = 3408.444583; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 56.732399 # Actual altitude: 56.732399 # Commanded vehicle depth: 3408.444583 # Seafloor depth: -3460.783367 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 172.673801 meters # Minimum depth: 3455.756582 meters looking forward 100.000000 meters along route # Maximum depth: 3458.331787 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3405.756582 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.963783; longitude = -108.884450; duration = 690; # abortOnTimeout = True; initialDepth = 3405.577087; finalDepth = 3405.756582; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.5752050000001 # Actual altitude: 52.5752050000001 # Commanded vehicle depth: 3405.756582 # Seafloor depth: -3458.331787 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 130.737497 meters # Minimum depth: 3455.577087 meters looking forward 100.000000 meters along route # Maximum depth: 3463.704454 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3405.577087 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.962248; longitude = -108.884155; duration = 522; # abortOnTimeout = True; initialDepth = 3414.278832; finalDepth = 3405.577087; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5752050000001 # Actual altitude: 52.5752050000001 # Commanded vehicle depth: 3405.577087 # Seafloor depth: -3455.577087 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 100.675781 meters # Minimum depth: 3464.278832 meters looking forward 100.000000 meters along route # Maximum depth: 3466.156237 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3414.278832 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.961857; longitude = -108.882943; duration = 402; initialDepth = 3416.248771; finalDepth = 3414.278832; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3414.278832 # Seafloor depth: -3464.278832 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.757822 meters # Minimum depth: 3466.248771 meters looking forward 100.000000 meters along route # Maximum depth: 3470.946932 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3416.248771 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.961556; longitude = -108.882010; duration = 403; initialDepth = 3421.717956; finalDepth = 3416.248771; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3416.248771 # Seafloor depth: -3466.248771 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 110.576723 meters # Minimum depth: 3471.717956 meters looking forward 100.000000 meters along route # Maximum depth: 3487.525370 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3421.717956 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.961255; longitude = -108.881076; duration = 442; initialDepth = 3438.501819; finalDepth = 3421.717956; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3421.717956 # Seafloor depth: -3471.717956 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.459768 meters # Minimum depth: 3488.501819 meters looking forward 100.000000 meters along route # Maximum depth: 3501.399145 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3438.501819 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.960924; longitude = -108.880051; duration = 405; initialDepth = 3452.246191; finalDepth = 3438.501819; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3438.501819 # Seafloor depth: -3488.501819 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 109.875918 meters # Minimum depth: 3502.246191 meters looking forward 100.000000 meters along route # Maximum depth: 3509.970966 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3452.246191 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.960621; longitude = -108.879111; duration = 439; initialDepth = 3460.195355; finalDepth = 3452.246191; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3452.246191 # Seafloor depth: -3502.246191 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 102.161721 meters # Minimum depth: 3510.195355 meters looking forward 100.000000 meters along route # Maximum depth: 3516.780828 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3460.195355 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.960292; longitude = -108.878093; duration = 408; initialDepth = 3467.731937; finalDepth = 3460.195355; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3460.195355 # Seafloor depth: -3510.195355 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 109.175106 meters # Minimum depth: 3517.731937 meters looking forward 100.000000 meters along route # Maximum depth: 3529.686212 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3467.731937 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.959986; longitude = -108.877146; duration = 436; initialDepth = 3480.076872; finalDepth = 3467.731937; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3467.731937 # Seafloor depth: -3517.731937 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 102.863683 meters # Minimum depth: 3530.076872 meters looking forward 100.000000 meters along route # Maximum depth: 3541.180372 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3480.076872 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.959660; longitude = -108.876134; duration = 411; initialDepth = 3492.596368; finalDepth = 3480.076872; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3480.076872 # Seafloor depth: -3530.076872 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 108.474285 meters # Minimum depth: 3542.596368 meters looking forward 100.000000 meters along route # Maximum depth: 3560.157686 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3492.596368 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.959352; longitude = -108.875181; duration = 433; initialDepth = 3510.677004; finalDepth = 3492.596368; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3492.596368 # Seafloor depth: -3542.596368 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 103.565652 meters # Minimum depth: 3560.677004 meters looking forward 100.000000 meters along route # Maximum depth: 3584.873202 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3510.677004 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.959028; longitude = -108.874175; duration = 414; initialDepth = 3538.412984; finalDepth = 3510.677004; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3510.677004 # Seafloor depth: -3560.677004 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 107.773458 meters # Minimum depth: 3588.412984 meters looking forward 100.000000 meters along route # Maximum depth: 3636.692489 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3538.412984 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.958718; longitude = -108.873215; duration = 431; initialDepth = 3567.290795; finalDepth = 3538.412984; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3538.412984 # Seafloor depth: -3588.412984 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 104.267629 meters # Minimum depth: 3637.504520 meters looking forward 100.000000 meters along route # Maximum depth: 3662.750145 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3567.290795 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.958396; longitude = -108.872216; duration = 417; initialDepth = 3595.229221; finalDepth = 3567.290795; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.2137254792424 # Actual altitude: 70.2137254792424 # Commanded vehicle depth: 3567.29079452076 # Seafloor depth: -3637.504520 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 107.072623 meters # Minimum depth: 3663.727612 meters looking forward 100.000000 meters along route # Maximum depth: 3669.460835 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3595.229221 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.958084; longitude = -108.871250; duration = 428; initialDepth = 3618.546630; finalDepth = 3595.229221; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.2137254792424 # Actual altitude: 70.2137254792424 # Commanded vehicle depth: 3595.22922100894 # Seafloor depth: -3663.727612 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 104.969613 meters # Minimum depth: 3668.546630 meters looking forward 100.000000 meters along route # Maximum depth: 3670.030951 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3618.546630 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.957764; longitude = -108.870258; duration = 419; initialDepth = 3614.625610; finalDepth = 3618.546630; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.4983909910561 # Actual altitude: 68.4983909910561 # Commanded vehicle depth: 3618.54663 # Seafloor depth: -3669.491718 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 106.371781 meters # Minimum depth: 3664.625610 meters looking forward 100.000000 meters along route # Maximum depth: 3668.144461 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3614.625610 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.957450; longitude = -108.869285; duration = 425; initialDepth = 3613.519832; finalDepth = 3614.625610; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.5188509999998 # Actual altitude: 53.5188509999998 # Commanded vehicle depth: 3614.62561 # Seafloor depth: -3668.144461 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 105.671605 meters # Minimum depth: 3663.519832 meters looking forward 100.000000 meters along route # Maximum depth: 3664.618256 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3613.519832 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.957132; longitude = -108.868299; duration = 422; initialDepth = 3613.688344; finalDepth = 3613.519832; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.5188509999998 # Actual altitude: 53.5188509999998 # Commanded vehicle depth: 3613.519832 # Seafloor depth: -3664.618256 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 106.022124 meters # Minimum depth: 3663.688344 meters looking forward 100.000000 meters along route # Maximum depth: 3664.383898 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3613.688344 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.956816; longitude = -108.867320; duration = 424; initialDepth = 3609.774109; finalDepth = 3613.688344; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0984240000003 # Actual altitude: 51.0984240000003 # Commanded vehicle depth: 3613.688344 # Seafloor depth: -3663.688344 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 106.022412 meters # Minimum depth: 3659.774109 meters looking forward 100.000000 meters along route # Maximum depth: 3663.766077 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3609.774109 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.956499; longitude = -108.866337; duration = 424; initialDepth = 3609.846761; finalDepth = 3609.774109; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.9919680000003 # Actual altitude: 53.9919680000003 # Commanded vehicle depth: 3609.774109 # Seafloor depth: -3663.766077 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 106.022699 meters # Minimum depth: 3659.846761 meters looking forward 100.000000 meters along route # Maximum depth: 3660.854293 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3609.846761 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.956182; longitude = -108.865354; duration = 424; initialDepth = 3609.558564; finalDepth = 3609.846761; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.9919680000003 # Actual altitude: 53.9919680000003 # Commanded vehicle depth: 3609.846761 # Seafloor depth: -3659.846761 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 109.585434 meters # Minimum depth: 3659.558564 meters looking forward 100.000000 meters along route # Maximum depth: 3660.413958 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3609.558564 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.955865; longitude = -108.864372; duration = 438; initialDepth = 3603.080890; finalDepth = 3609.558564; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.8553940000002 # Actual altitude: 50.8553940000002 # Commanded vehicle depth: 3609.558564 # Seafloor depth: -3660.413958 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 152.362683 meters # Minimum depth: 3653.080890 meters looking forward 100.000000 meters along route # Maximum depth: 3659.835083 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3603.080890 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.955537; longitude = -108.863356; duration = 609; # abortOnTimeout = True; initialDepth = 3602.860779; finalDepth = 3603.080890; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 56.7541929999998 # Actual altitude: 56.7541929999998 # Commanded vehicle depth: 3603.08089 # Seafloor depth: -3659.835083 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.03; 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 4 # Segment length 141.305877 meters # Minimum depth: 3652.860779 meters looking forward 100.000000 meters along route # Maximum depth: 3656.874457 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3602.860779 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.954273; longitude = -108.863946; duration = 565; # abortOnTimeout = True; initialDepth = 3606.878095; finalDepth = 3602.860779; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.7541929999998 # Actual altitude: 56.7541929999998 # Commanded vehicle depth: 3602.860779 # Seafloor depth: -3652.860779 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 105.992204 meters # Minimum depth: 3656.878095 meters looking forward 100.000000 meters along route # Maximum depth: 3657.560631 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3606.878095 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.954695; longitude = -108.865256; duration = 423; initialDepth = 3607.441889; finalDepth = 3606.878095; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3606.878095 # Seafloor depth: -3656.878095 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 105.991917 meters # Minimum depth: 3657.441889 meters looking forward 100.000000 meters along route # Maximum depth: 3661.200287 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3607.441889 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.955011; longitude = -108.866239; duration = 423; initialDepth = 3611.212005; finalDepth = 3607.441889; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3607.441889 # Seafloor depth: -3657.441889 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 105.991631 meters # Minimum depth: 3661.212005 meters looking forward 100.000000 meters along route # Maximum depth: 3664.128300 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3611.212005 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.955327; longitude = -108.867221; duration = 423; initialDepth = 3614.278058; finalDepth = 3611.212005; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3611.212005 # Seafloor depth: -3661.212005 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 105.991343 meters # Minimum depth: 3664.278058 meters looking forward 100.000000 meters along route # Maximum depth: 3669.080600 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3614.278058 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.955643; longitude = -108.868204; duration = 423; initialDepth = 3618.332460; finalDepth = 3614.278058; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3614.278058 # Seafloor depth: -3664.278058 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 105.991057 meters # Minimum depth: 3668.332460 meters looking forward 100.000000 meters along route # Maximum depth: 3670.039254 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3618.332460 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.955959; longitude = -108.869187; duration = 423; initialDepth = 3617.819851; finalDepth = 3618.332460; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7754 # Actual altitude: 50.7754 # Commanded vehicle depth: 3618.33246 # Seafloor depth: -3669.107860 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 105.990770 meters # Minimum depth: 3667.819851 meters looking forward 100.000000 meters along route # Maximum depth: 3669.267350 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3617.819851 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.956276; longitude = -108.870169; duration = 423; initialDepth = 3576.489727; finalDepth = 3617.819851; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7754 # Actual altitude: 50.7754 # Commanded vehicle depth: 3617.819851 # Seafloor depth: -3668.213526 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 105.990483 meters # Minimum depth: 3626.489727 meters looking forward 100.000000 meters along route # Maximum depth: 3667.770582 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3576.489727 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.956592; longitude = -108.871152; duration = 423; initialDepth = 3548.115816; finalDepth = 3576.489727; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.280855 # Actual altitude: 91.280855 # Commanded vehicle depth: 3576.489727 # Seafloor depth: -3667.770582 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 105.990196 meters # Minimum depth: 3598.115816 meters looking forward 100.000000 meters along route # Maximum depth: 3621.216937 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3548.115816 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.956908; longitude = -108.872134; duration = 423; initialDepth = 3520.412710; finalDepth = 3548.115816; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.280855 # Actual altitude: 91.280855 # Commanded vehicle depth: 3548.115816 # Seafloor depth: -3621.216937 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 105.989909 meters # Minimum depth: 3570.412710 meters looking forward 100.000000 meters along route # Maximum depth: 3597.969476 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3520.412710 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.957224; longitude = -108.873117; duration = 423; initialDepth = 3499.021037; finalDepth = 3520.412710; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.5567660000002 # Actual altitude: 77.5567660000002 # Commanded vehicle depth: 3520.41271 # Seafloor depth: -3597.969476 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 105.989623 meters # Minimum depth: 3549.021037 meters looking forward 100.000000 meters along route # Maximum depth: 3567.901513 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3499.021037 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.957540; longitude = -108.874100; duration = 423; initialDepth = 3485.043125; finalDepth = 3499.021037; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.5567660000002 # Actual altitude: 77.5567660000002 # Commanded vehicle depth: 3499.021037 # Seafloor depth: -3567.901513 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 105.989336 meters # Minimum depth: 3535.043125 meters looking forward 100.000000 meters along route # Maximum depth: 3548.903020 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3485.043125 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.957857; longitude = -108.875082; duration = 423; initialDepth = 3469.058985; finalDepth = 3485.043125; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.8804759999998 # Actual altitude: 68.8804759999998 # Commanded vehicle depth: 3485.043125 # Seafloor depth: -3548.903020 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 105.989050 meters # Minimum depth: 3519.058985 meters looking forward 100.000000 meters along route # Maximum depth: 3533.521533 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3469.058985 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.958173; longitude = -108.876065; duration = 423; initialDepth = 3460.956467; finalDepth = 3469.058985; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.462548 # Actual altitude: 64.462548 # Commanded vehicle depth: 3469.058985 # Seafloor depth: -3533.521533 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 19.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 105.988763 meters # Minimum depth: 3510.956467 meters looking forward 100.000000 meters along route # Maximum depth: 3518.943812 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3460.956467 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.958489; longitude = -108.877048; duration = 423; initialDepth = 3453.819383; finalDepth = 3460.956467; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.462548 # Actual altitude: 64.462548 # Commanded vehicle depth: 3460.956467 # Seafloor depth: -3518.943812 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 19.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 105.988476 meters # Minimum depth: 3503.819383 meters looking forward 100.000000 meters along route # Maximum depth: 3510.154663 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3453.819383 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.958805; longitude = -108.878030; duration = 423; initialDepth = 3445.724680; finalDepth = 3453.819383; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.987345 # Actual altitude: 57.987345 # Commanded vehicle depth: 3453.819383 # Seafloor depth: -3510.154663 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 105.988190 meters # Minimum depth: 3495.724680 meters looking forward 100.000000 meters along route # Maximum depth: 3503.774163 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3445.724680 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.959121; longitude = -108.879013; duration = 423; initialDepth = 3424.813655; finalDepth = 3445.724680; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.0494830000002 # Actual altitude: 58.0494830000002 # Commanded vehicle depth: 3445.72468 # Seafloor depth: -3503.774163 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 17.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 105.987903 meters # Minimum depth: 3474.813655 meters looking forward 100.000000 meters along route # Maximum depth: 3494.209584 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3424.813655 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.959438; longitude = -108.879995; duration = 423; initialDepth = 3412.061714; finalDepth = 3424.813655; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.3959290000003 # Actual altitude: 69.3959290000003 # Commanded vehicle depth: 3424.813655 # Seafloor depth: -3494.209584 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 105.987616 meters # Minimum depth: 3462.061714 meters looking forward 100.000000 meters along route # Maximum depth: 3474.575950 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3412.061714 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.959754; longitude = -108.880978; duration = 423; initialDepth = 3409.044635; finalDepth = 3412.061714; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.3959290000003 # Actual altitude: 69.3959290000003 # Commanded vehicle depth: 3412.061714 # Seafloor depth: -3474.575950 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 105.987330 meters # Minimum depth: 3459.044635 meters looking forward 100.000000 meters along route # Maximum depth: 3461.485997 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3409.044635 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.960070; longitude = -108.881961; duration = 423; initialDepth = 3404.124485; finalDepth = 3409.044635; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.514236 # Actual altitude: 62.514236 # Commanded vehicle depth: 3409.044635 # Seafloor depth: -3461.485997 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 18.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 109.559478 meters # Minimum depth: 3454.124485 meters looking forward 100.000000 meters along route # Maximum depth: 3459.024440 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3404.124485 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.960386; longitude = -108.882943; duration = 438; initialDepth = 3403.629272; finalDepth = 3404.124485; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.8999550000003 # Actual altitude: 54.8999550000003 # Commanded vehicle depth: 3404.124485 # Seafloor depth: -3459.024440 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.47; 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 81.279500 meters # Minimum depth: 3453.629272 meters looking forward 100.000000 meters along route # Maximum depth: 3455.021035 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3403.629272 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.960713; longitude = -108.883959; duration = 325; # abortOnTimeout = True; initialDepth = 3404.667420; finalDepth = 3403.629272; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8999550000003 # Actual altitude: 54.8999550000003 # Commanded vehicle depth: 3403.629272 # Seafloor depth: -3453.629272 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 101.220616 meters # Minimum depth: 3454.667420 meters looking forward 100.000000 meters along route # Maximum depth: 3456.078083 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3404.667420 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.959989; longitude = -108.883828; duration = 404; initialDepth = 3406.030029; finalDepth = 3404.667420; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3404.66742 # Seafloor depth: -3454.667420 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 162.483101 meters # Minimum depth: 3456.030029 meters looking forward 100.000000 meters along route # Maximum depth: 3461.107909 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3406.030029 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.959088; longitude = -108.883664; duration = 649; # abortOnTimeout = True; initialDepth = 3412.137004; finalDepth = 3406.030029; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3406.030029 # Seafloor depth: -3456.030029 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 105.956768 meters # Minimum depth: 3462.137004 meters looking forward 100.000000 meters along route # Maximum depth: 3478.271655 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3412.137004 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.958604; longitude = -108.882157; duration = 423; initialDepth = 3429.339555; finalDepth = 3412.137004; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3412.137004 # Seafloor depth: -3462.137004 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 105.957054 meters # Minimum depth: 3479.339555 meters looking forward 100.000000 meters along route # Maximum depth: 3493.366818 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3429.339555 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.958289; longitude = -108.881175; duration = 423; initialDepth = 3441.312084; finalDepth = 3429.339555; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3429.339555 # Seafloor depth: -3479.339555 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 105.957340 meters # Minimum depth: 3491.312084 meters looking forward 100.000000 meters along route # Maximum depth: 3494.523604 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3441.312084 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.957974; longitude = -108.880192; duration = 423; initialDepth = 3441.124182; finalDepth = 3441.312084; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.720429 # Actual altitude: 52.720429 # Commanded vehicle depth: 3441.312084 # Seafloor depth: -3494.032513 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 105.957625 meters # Minimum depth: 3491.124182 meters looking forward 100.000000 meters along route # Maximum depth: 3497.760568 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3441.124182 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.957658; longitude = -108.879209; duration = 423; initialDepth = 3449.357324; finalDepth = 3441.124182; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.720429 # Actual altitude: 52.720429 # Commanded vehicle depth: 3441.124182 # Seafloor depth: -3491.193281 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 105.957912 meters # Minimum depth: 3499.357324 meters looking forward 100.000000 meters along route # Maximum depth: 3516.813062 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3449.357324 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.957343; longitude = -108.878227; duration = 423; initialDepth = 3467.660524; finalDepth = 3449.357324; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0690989999998 # Actual altitude: 50.0690989999998 # Commanded vehicle depth: 3449.357324 # Seafloor depth: -3499.357324 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 105.958198 meters # Minimum depth: 3517.660524 meters looking forward 100.000000 meters along route # Maximum depth: 3531.908648 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3467.660524 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.957028; longitude = -108.877244; duration = 423; initialDepth = 3483.016019; finalDepth = 3467.660524; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3467.660524 # Seafloor depth: -3517.660524 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 105.958484 meters # Minimum depth: 3533.016019 meters looking forward 100.000000 meters along route # Maximum depth: 3548.011105 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3483.016019 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.956712; longitude = -108.876261; duration = 423; initialDepth = 3498.786826; finalDepth = 3483.016019; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3483.016019 # Seafloor depth: -3533.016019 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 105.958769 meters # Minimum depth: 3548.786826 meters looking forward 100.000000 meters along route # Maximum depth: 3564.031710 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3498.786826 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.956397; longitude = -108.875279; duration = 423; initialDepth = 3515.939473; finalDepth = 3498.786826; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3498.786826 # Seafloor depth: -3548.786826 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 105.959056 meters # Minimum depth: 3565.939473 meters looking forward 100.000000 meters along route # Maximum depth: 3589.398675 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3515.939473 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.956082; longitude = -108.874296; duration = 423; initialDepth = 3540.299330; finalDepth = 3515.939473; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3515.939473 # Seafloor depth: -3565.939473 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 105.959343 meters # Minimum depth: 3590.299330 meters looking forward 100.000000 meters along route # Maximum depth: 3618.586065 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3540.299330 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.955767; longitude = -108.873314; duration = 423; initialDepth = 3568.691050; finalDepth = 3540.299330; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3540.29933 # Seafloor depth: -3590.299330 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 105.959628 meters # Minimum depth: 3621.880126 meters looking forward 100.000000 meters along route # Maximum depth: 3660.573057 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3568.691050 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.955451; longitude = -108.872331; duration = 423; initialDepth = 3597.082846; finalDepth = 3568.691050; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1890761197865 # Actual altitude: 53.1890761197865 # Commanded vehicle depth: 3568.69104988021 # Seafloor depth: -3621.880126 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 105.959914 meters # Minimum depth: 3661.514673 meters looking forward 100.000000 meters along route # Maximum depth: 3666.575151 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3597.082846 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.955136; longitude = -108.871348; duration = 423; initialDepth = 3610.062261; finalDepth = 3597.082846; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.4318268740544 # Actual altitude: 64.4318268740544 # Commanded vehicle depth: 3597.08284612595 # Seafloor depth: -3661.514673 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 19.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 105.960201 meters # Minimum depth: 3660.062261 meters looking forward 100.000000 meters along route # Maximum depth: 3662.878755 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3610.062261 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.954821; longitude = -108.870366; duration = 423; initialDepth = 3606.938845; finalDepth = 3610.062261; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.4318268740544 # Actual altitude: 64.4318268740544 # Commanded vehicle depth: 3610.062261 # Seafloor depth: -3662.878755 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 19.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 105.960487 meters # Minimum depth: 3656.938845 meters looking forward 100.000000 meters along route # Maximum depth: 3659.918243 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3606.938845 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.954505; longitude = -108.869383; duration = 423; initialDepth = 3604.914888; finalDepth = 3606.938845; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9793979999999 # Actual altitude: 52.9793979999999 # Commanded vehicle depth: 3606.938845 # Seafloor depth: -3659.918243 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 105.960773 meters # Minimum depth: 3654.914888 meters looking forward 100.000000 meters along route # Maximum depth: 3656.694509 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3604.914888 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.954190; longitude = -108.868400; duration = 423; initialDepth = 3603.297353; finalDepth = 3604.914888; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9793979999999 # Actual altitude: 52.9793979999999 # Commanded vehicle depth: 3604.914888 # Seafloor depth: -3656.694509 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 105.961060 meters # Minimum depth: 3653.297353 meters looking forward 100.000000 meters along route # Maximum depth: 3654.871610 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3603.297353 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.953875; longitude = -108.867418; duration = 423; initialDepth = 3598.872185; finalDepth = 3603.297353; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7796210000001 # Actual altitude: 51.7796210000001 # Commanded vehicle depth: 3603.297353 # Seafloor depth: -3654.871610 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 105.961345 meters # Minimum depth: 3648.872185 meters looking forward 100.000000 meters along route # Maximum depth: 3652.857068 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3598.872185 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.953559; longitude = -108.866435; duration = 423; initialDepth = 3598.860059; finalDepth = 3598.872185; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.9848829999996 # Actual altitude: 53.9848829999996 # Commanded vehicle depth: 3598.872185 # Seafloor depth: -3652.857068 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 109.509887 meters # Minimum depth: 3648.860059 meters looking forward 100.000000 meters along route # Maximum depth: 3650.138685 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3598.860059 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.953244; longitude = -108.865453; duration = 438; initialDepth = 3599.878784; finalDepth = 3598.860059; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.9848829999996 # Actual altitude: 53.9848829999996 # Commanded vehicle depth: 3598.860059 # Seafloor depth: -3648.860059 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 16.20; 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 167.014782 meters # Minimum depth: 3649.878784 meters looking forward 100.000000 meters along route # Maximum depth: 3655.560914 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3765.807941 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3599.878784 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.952918; longitude = -108.864437; duration = 668; # abortOnTimeout = True; initialDepth = 3600.140452; finalDepth = 3599.878784; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3599.878784 # Seafloor depth: -3649.878784 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 2; } # Set sonar parameters # Waypoint type: 3 # Commanded altitude: 56.0550439999997 # Sonar parameter altitude: 56.0550439999997 # Commanded vehicle depth: 3600.140452 # Seafloor depth: -3656.195496 # 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 = 36; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint behavior to get back to start of line 1 # Segment length 167.014782 meters # Minimum depth: 3650.140452 meters looking forward 100.000000 meters along route # Maximum depth: 3656.195496 meters looking forward 100.000000 meters along route # Vehicle depth: 3600.140452 meters behavior waypoint { latitude = 23.953834; longitude = -108.863134; duration = 7200; depth = 3600.140452; speed = 1.500000; } # # Zero speed hang to allow final nav updates over acoustic modem # - must get start survey command over acoustic modem or mission aborts behavior StartSurvey { duration = 300; } # # Acoustic update 4 - sent status ping at beginning of StartSurvey behavior # behavior acousticUpdate { duration = 2; dummy = 1; } # # Spiral descend behavior to get to proper depth at start of line 1 # Behavior depth of 3600.140452 meters set by local depth and desired altitude behavior descend { duration = 13130; horizontalMode = rudder; horizontal = 2.000000; pitch = -35.000000; speed = 1.500000; maxDepth = 3596.195496; minAltitude = 50.000000; } # # Acoustic update 5 - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # Waypoint behavior to get to start of line 1 # Segment length 167.014782 meters # Minimum depth: 3650.140452 meters looking forward 100.000000 meters along route # Maximum depth: 3656.195496 meters looking forward 100.000000 meters along route # Vehicle depth: 50.000000 meters behavior waypoint { latitude = 23.953834; longitude = -108.863134; duration = 2000; depth = 50.000000; speed = 1.500000; } ####################################################### # Acoustic update 6 - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 90.0; 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 = 90.0; 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 = 36; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; 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; } # 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