# 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_2v5.rte # Mission File: 2018PB_2v5.cfg # Distance: 77855.132410 (m) # Estimated Time: 56470 (s) 15.686 (hr) # Abort Time: 74616 (s) # Max battery life: 79200 (s) # Safety margin: 900 (s) # Ascend time: 5525 (s) # Way Points: 35 # Route Points: 728 # 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: 42 dB # Multibeam transmit gain: 218 dB # Multibeam pulse width: 6e-05 usec # Multibeam minimum range fraction: 0.5 # 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: 45 (m) # Abort Vehicle Altitude 1: 15 (m) # Delta Depth Restart 1: 30 (m) # Desired Vehicle Altitude 1: 50 (m) # Desired Vehicle Altitude 2: 75 (m) # Desired Vehicle Altitude 3: 50 (m) # Constant Vehicle Depth 1: 50 (m) # Constant Vehicle Depth 2: 50 (m) # Maximum Vehicle Depth: 3749.814807 (m) # Abort Vehicle Depth: 3772.314807 (m) # Descent Vehicle Depth: 3 (m) # Spiral descent depth: 3599.435181 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 -108.862963 23.953821 -3659.435181 0.000000 3 # 1 -108.832109 23.943799 -3768.080933 3331.716610 3 # 2 -108.832567 23.942385 -3761.765442 3495.152900 3 # 3 -108.874231 23.956018 -3567.246643 7997.834638 3 # 4 -108.874231 23.954393 -3581.410339 8177.847737 3 # 5 -108.832862 23.941302 -3748.177795 12632.380191 3 # 6 -108.833353 23.939947 -3733.433838 12790.592781 3 # 7 -108.874263 23.953099 -3580.674561 17203.231632 3 # 8 -108.874231 23.951685 -3577.557068 17359.904543 3 # 9 -108.833845 23.938683 -3721.535278 21716.738705 3 # 10 -108.834271 23.937389 -3712.021912 21866.506169 3 # 11 -108.874231 23.950240 -3573.564636 26176.916468 3 # 12 -108.874132 23.948705 -3583.327209 26347.257952 3 # 13 -108.834664 23.936035 -3698.919861 30603.806404 3 # 14 -108.835155 23.934680 -3689.944824 30762.019387 3 # 15 -108.873772 23.947321 -3578.290894 34935.825889 3 # 16 -108.873674 23.945786 -3569.927673 35106.161375 3 # 17 -108.825296 23.930016 -3691.328613 40332.626736 3 # 18 -108.825722 23.928722 -3675.550232 40482.395607 3 # 19 -108.873674 23.944341 -3560.524414 45662.437247 3 # 20 -108.873477 23.942897 -3563.639648 45823.652068 3 # 21 -108.836727 23.930798 -3636.955322 49798.357142 3 # 22 -108.837087 23.929564 -3614.206909 49939.888417 3 # 23 -108.873477 23.941542 -3561.599731 53875.599372 3 # 24 -108.873346 23.940038 -3555.403442 54042.741238 3 # 25 -108.837611 23.928360 -3608.192505 57904.504622 3 # 26 -108.838103 23.927187 -3595.402344 58043.772006 3 # 27 -108.873183 23.938563 -3560.151184 61831.533001 3 # 28 -108.872953 23.937058 -3537.754456 61999.889278 3 # 29 -108.838463 23.925953 -3583.650879 65721.052788 3 # 30 -108.838954 23.924689 -3573.860535 65869.736351 3 # 31 -108.872986 23.935764 -3526.113525 69545.839764 3 # 32 -108.872855 23.934079 -3510.164856 69732.975152 3 # 33 -108.839544 23.923425 -3569.539429 73324.395316 3 # 34 -108.862832 23.958276 -3683.909363 77855.132410 4 # # A total of 728 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 63900; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 3749.814807; abortDepth = 3772.314807; minAltitude = 45.000000; abortAltitude = 15.000000; deltaDepthRestart = 30.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 5525; 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 34 # Segment length 90.048299 meters # Minimum depth: 3683.909363 meters looking forward 100.000000 meters along route # Maximum depth: 3686.082551 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3633.909363 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.958276; longitude = -108.862832; duration = 360; # abortOnTimeout = True; initialDepth = 3635.608238; finalDepth = 3633.909363; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3633.909363 # Seafloor depth: -3683.909363 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 107.450177 meters # Minimum depth: 3685.608238 meters looking forward 100.000000 meters along route # Maximum depth: 3686.327653 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3635.608238 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.957583; longitude = -108.862369; duration = 429; initialDepth = 3635.626370; finalDepth = 3635.608238; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5493660000002 # Actual altitude: 50.5493660000002 # Commanded vehicle depth: 3635.608238 # Seafloor depth: -3686.157604 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 103.818510 meters # Minimum depth: 3685.626370 meters looking forward 100.000000 meters along route # Maximum depth: 3690.134818 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3635.626370 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.956757; longitude = -108.861817; duration = 415; initialDepth = 3640.406967; finalDepth = 3635.626370; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5493660000002 # Actual altitude: 50.5493660000002 # Commanded vehicle depth: 3635.62637 # Seafloor depth: -3685.626370 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 106.463187 meters # Minimum depth: 3690.406967 meters looking forward 100.000000 meters along route # Maximum depth: 3691.448131 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3640.406967 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.955958; longitude = -108.861283; duration = 425; initialDepth = 3641.467922; finalDepth = 3640.406967; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3640.406967 # Seafloor depth: -3690.406967 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 104.806322 meters # Minimum depth: 3691.467922 meters looking forward 100.000000 meters along route # Maximum depth: 3694.483310 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3641.467922 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.955139; longitude = -108.860736; duration = 419; initialDepth = 3644.693415; finalDepth = 3641.467922; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3641.467922 # Seafloor depth: -3691.467922 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 105.635063 meters # Minimum depth: 3694.693415 meters looking forward 100.000000 meters along route # Maximum depth: 3701.505918 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3644.693415 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.954333; longitude = -108.860197; duration = 422; initialDepth = 3651.523155; finalDepth = 3644.693415; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3644.693415 # Seafloor depth: -3694.693415 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 105.635268 meters # Minimum depth: 3701.523155 meters looking forward 100.000000 meters along route # Maximum depth: 3708.177211 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3651.523155 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.953520; longitude = -108.859654; duration = 422; initialDepth = 3658.581093; finalDepth = 3651.523155; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3651.523155 # Seafloor depth: -3701.523155 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 105.635473 meters # Minimum depth: 3708.581093 meters looking forward 100.000000 meters along route # Maximum depth: 3711.022049 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3658.581093 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.952708; longitude = -108.859111; duration = 422; initialDepth = 3653.653432; finalDepth = 3658.581093; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3658.581093 # Seafloor depth: -3708.581093 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 105.635678 meters # Minimum depth: 3703.653432 meters looking forward 100.000000 meters along route # Maximum depth: 3710.588386 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3653.653432 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.951895; longitude = -108.858568; duration = 422; initialDepth = 3652.774161; finalDepth = 3653.653432; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.9349539999998 # Actual altitude: 56.9349539999998 # Commanded vehicle depth: 3653.653432 # Seafloor depth: -3710.588386 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 105.635884 meters # Minimum depth: 3702.774161 meters looking forward 100.000000 meters along route # Maximum depth: 3706.423938 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3652.774161 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.951083; longitude = -108.858025; duration = 422; initialDepth = 3656.462183; finalDepth = 3652.774161; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.9349539999998 # Actual altitude: 56.9349539999998 # Commanded vehicle depth: 3652.774161 # Seafloor depth: -3703.113365 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 105.636089 meters # Minimum depth: 3706.462183 meters looking forward 100.000000 meters along route # Maximum depth: 3706.768580 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3656.462183 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.950270; longitude = -108.857482; duration = 422; initialDepth = 3656.409918; finalDepth = 3656.462183; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3392040000003 # Actual altitude: 50.3392040000003 # Commanded vehicle depth: 3656.462183 # Seafloor depth: -3706.478773 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 105.636295 meters # Minimum depth: 3706.409918 meters looking forward 100.000000 meters along route # Maximum depth: 3708.285674 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3656.409918 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.949457; longitude = -108.856939; duration = 422; initialDepth = 3658.382594; finalDepth = 3656.409918; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0165899999997 # Actual altitude: 50.0165899999997 # Commanded vehicle depth: 3656.409918 # Seafloor depth: -3706.409918 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 105.636499 meters # Minimum depth: 3708.382594 meters looking forward 100.000000 meters along route # Maximum depth: 3709.754286 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3658.382594 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.948645; longitude = -108.856396; duration = 422; initialDepth = 3659.683352; finalDepth = 3658.382594; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3658.382594 # Seafloor depth: -3708.382594 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 105.636706 meters # Minimum depth: 3709.683352 meters looking forward 100.000000 meters along route # Maximum depth: 3711.933967 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3659.683352 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.947832; longitude = -108.855853; duration = 422; initialDepth = 3662.043482; finalDepth = 3659.683352; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3659.683352 # Seafloor depth: -3709.683352 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 110.593088 meters # Minimum depth: 3712.043482 meters looking forward 100.000000 meters along route # Maximum depth: 3714.488274 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3662.043482 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.947020; longitude = -108.855310; duration = 442; initialDepth = 3664.602688; finalDepth = 3662.043482; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3662.043482 # Seafloor depth: -3712.043482 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 100.680938 meters # Minimum depth: 3714.602688 meters looking forward 100.000000 meters along route # Maximum depth: 3715.933252 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3664.602688 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.946169; longitude = -108.854742; duration = 402; initialDepth = 3663.277844; finalDepth = 3664.602688; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3664.602688 # Seafloor depth: -3714.602688 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 109.606086 meters # Minimum depth: 3713.277844 meters looking forward 100.000000 meters along route # Maximum depth: 3715.856349 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3663.277844 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.945395; longitude = -108.854224; duration = 438; initialDepth = 3653.413575; finalDepth = 3663.277844; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.578505 # Actual altitude: 52.578505 # Commanded vehicle depth: 3663.277844 # Seafloor depth: -3715.856349 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 101.668762 meters # Minimum depth: 3703.413575 meters looking forward 100.000000 meters along route # Maximum depth: 3713.088702 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3653.413575 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.944551; longitude = -108.853661; duration = 406; initialDepth = 3644.260594; finalDepth = 3653.413575; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.675127 # Actual altitude: 59.675127 # Commanded vehicle depth: 3653.413575 # Seafloor depth: -3713.088702 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 108.619076 meters # Minimum depth: 3694.260594 meters looking forward 100.000000 meters along route # Maximum depth: 3702.684420 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3644.260594 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.943769; longitude = -108.853138; duration = 434; initialDepth = 3643.304647; finalDepth = 3644.260594; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.675127 # Actual altitude: 59.675127 # Commanded vehicle depth: 3644.260594 # Seafloor depth: -3702.684420 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 102.656594 meters # Minimum depth: 3693.304647 meters looking forward 100.000000 meters along route # Maximum depth: 3696.213878 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3643.304647 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.942934; longitude = -108.852580; duration = 410; initialDepth = 3647.134854; finalDepth = 3643.304647; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.4238260000002 # Actual altitude: 58.4238260000002 # Commanded vehicle depth: 3643.304647 # Seafloor depth: -3694.182809 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 107.632058 meters # Minimum depth: 3697.134854 meters looking forward 100.000000 meters along route # Maximum depth: 3715.325155 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3647.134854 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.942144; longitude = -108.852052; duration = 430; initialDepth = 3665.557971; finalDepth = 3647.134854; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.878162 # Actual altitude: 50.878162 # Commanded vehicle depth: 3647.134854 # Seafloor depth: -3697.134854 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 103.644433 meters # Minimum depth: 3715.557971 meters looking forward 100.000000 meters along route # Maximum depth: 3720.772365 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3665.557971 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.941316; longitude = -108.851499; duration = 414; initialDepth = 3651.961396; finalDepth = 3665.557971; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3665.557971 # Seafloor depth: -3715.557971 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 106.645032 meters # Minimum depth: 3701.961396 meters looking forward 100.000000 meters along route # Maximum depth: 3719.953662 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3651.961396 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.940519; longitude = -108.850967; duration = 426; initialDepth = 3636.926516; finalDepth = 3651.961396; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.9922659999997 # Actual altitude: 67.9922659999997 # Commanded vehicle depth: 3651.961396 # Seafloor depth: -3719.953662 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 104.632280 meters # Minimum depth: 3686.926516 meters looking forward 100.000000 meters along route # Maximum depth: 3701.770920 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3636.926516 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.939699; longitude = -108.850418; duration = 418; initialDepth = 3627.571281; finalDepth = 3636.926516; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.9922659999997 # Actual altitude: 67.9922659999997 # Commanded vehicle depth: 3636.926516 # Seafloor depth: -3701.770920 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 105.658000 meters # Minimum depth: 3677.571281 meters looking forward 100.000000 meters along route # Maximum depth: 3686.088657 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3627.571281 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.938894; longitude = -108.849881; duration = 422; initialDepth = 3621.776692; finalDepth = 3627.571281; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.8444039999999 # Actual altitude: 64.8444039999999 # Commanded vehicle depth: 3627.571281 # Seafloor depth: -3686.088657 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 105.620135 meters # Minimum depth: 3671.776692 meters looking forward 100.000000 meters along route # Maximum depth: 3677.569745 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3621.776692 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.938081; longitude = -108.849337; duration = 422; initialDepth = 3619.164890; finalDepth = 3621.776692; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.5173759999998 # Actual altitude: 58.5173759999998 # Commanded vehicle depth: 3621.776692 # Seafloor depth: -3677.569745 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 105.639375 meters # Minimum depth: 3669.164890 meters looking forward 100.000000 meters along route # Maximum depth: 3671.574004 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3619.164890 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.937269; longitude = -108.848795; duration = 422; initialDepth = 3619.222608; finalDepth = 3619.164890; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.7930529999999 # Actual altitude: 55.7930529999999 # Commanded vehicle depth: 3619.16489 # Seafloor depth: -3671.574004 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 105.639580 meters # Minimum depth: 3669.222608 meters looking forward 100.000000 meters along route # Maximum depth: 3670.365354 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3619.222608 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.936456; longitude = -108.848252; duration = 422; initialDepth = 3615.520059; finalDepth = 3619.222608; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.409114 # Actual altitude: 52.409114 # Commanded vehicle depth: 3619.222608 # Seafloor depth: -3669.222608 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 105.639786 meters # Minimum depth: 3665.520059 meters looking forward 100.000000 meters along route # Maximum depth: 3669.486806 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3615.520059 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.935644; longitude = -108.847709; duration = 422; initialDepth = 3615.512251; finalDepth = 3615.520059; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.9667469999999 # Actual altitude: 53.9667469999999 # Commanded vehicle depth: 3615.520059 # Seafloor depth: -3669.486806 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 105.639992 meters # Minimum depth: 3665.512251 meters looking forward 100.000000 meters along route # Maximum depth: 3668.391476 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3615.512251 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.934831; longitude = -108.847166; duration = 422; initialDepth = 3617.443227; finalDepth = 3615.512251; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.9667469999999 # Actual altitude: 53.9667469999999 # Commanded vehicle depth: 3615.512251 # Seafloor depth: -3665.512251 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 105.640197 meters # Minimum depth: 3667.443227 meters looking forward 100.000000 meters along route # Maximum depth: 3668.906302 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3617.443227 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.934018; longitude = -108.846623; duration = 422; initialDepth = 3615.312059; finalDepth = 3617.443227; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1946369999996 # Actual altitude: 51.1946369999996 # Commanded vehicle depth: 3617.443227 # Seafloor depth: -3668.637864 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 105.640402 meters # Minimum depth: 3665.312059 meters looking forward 100.000000 meters along route # Maximum depth: 3667.347647 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3615.312059 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.933206; longitude = -108.846080; duration = 422; initialDepth = 3615.989063; finalDepth = 3615.312059; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0355880000002 # Actual altitude: 52.0355880000002 # Commanded vehicle depth: 3615.312059 # Seafloor depth: -3667.347647 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 105.640608 meters # Minimum depth: 3665.989063 meters looking forward 100.000000 meters along route # Maximum depth: 3668.179936 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3615.989063 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.932393; longitude = -108.845537; duration = 422; initialDepth = 3603.596554; finalDepth = 3615.989063; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0355880000002 # Actual altitude: 52.0355880000002 # Commanded vehicle depth: 3615.989063 # Seafloor depth: -3665.989063 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 110.775091 meters # Minimum depth: 3653.596554 meters looking forward 100.000000 meters along route # Maximum depth: 3667.434730 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3603.596554 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.931581; longitude = -108.844994; duration = 443; initialDepth = 3593.126098; finalDepth = 3603.596554; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.8381759999997 # Actual altitude: 63.8381759999997 # Commanded vehicle depth: 3603.596554 # Seafloor depth: -3667.434730 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 100.506741 meters # Minimum depth: 3643.126098 meters looking forward 100.000000 meters along route # Maximum depth: 3652.782167 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3593.126098 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.930729; longitude = -108.844424; duration = 402; initialDepth = 3583.887662; finalDepth = 3593.126098; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.8381759999997 # Actual altitude: 63.8381759999997 # Commanded vehicle depth: 3593.126098 # Seafloor depth: -3652.782167 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 109.788053 meters # Minimum depth: 3633.887662 meters looking forward 100.000000 meters along route # Maximum depth: 3642.795283 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3583.887662 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.929955; longitude = -108.843908; duration = 439; initialDepth = 3572.842276; finalDepth = 3583.887662; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.6560689999997 # Actual altitude: 59.6560689999997 # Commanded vehicle depth: 3583.887662 # Seafloor depth: -3642.795283 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 101.494601 meters # Minimum depth: 3622.842276 meters looking forward 100.000000 meters along route # Maximum depth: 3633.495003 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3572.842276 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.929111; longitude = -108.843343; duration = 405; initialDepth = 3564.018288; finalDepth = 3572.842276; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.6527270000001 # Actual altitude: 60.6527270000001 # Commanded vehicle depth: 3572.842276 # Seafloor depth: -3633.495003 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 108.801006 meters # Minimum depth: 3614.018288 meters looking forward 100.000000 meters along route # Maximum depth: 3622.175569 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3564.018288 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.928330; longitude = -108.842822; duration = 435; initialDepth = 3556.130062; finalDepth = 3564.018288; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.6527270000001 # Actual altitude: 60.6527270000001 # Commanded vehicle depth: 3564.018288 # Seafloor depth: -3622.175569 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 102.482469 meters # Minimum depth: 3606.130062 meters looking forward 100.000000 meters along route # Maximum depth: 3613.807469 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3556.130062 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.927493; longitude = -108.842263; duration = 409; initialDepth = 3547.946679; finalDepth = 3556.130062; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.1572809999998 # Actual altitude: 58.1572809999998 # Commanded vehicle depth: 3556.130062 # Seafloor depth: -3613.807469 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 107.813954 meters # Minimum depth: 3597.946679 meters looking forward 100.000000 meters along route # Maximum depth: 3605.591904 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3547.946679 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.926705; longitude = -108.841736; duration = 431; initialDepth = 3537.526107; finalDepth = 3547.946679; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.6774069999997 # Actual altitude: 57.6774069999997 # Commanded vehicle depth: 3547.946679 # Seafloor depth: -3605.591904 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 103.470343 meters # Minimum depth: 3587.526107 meters looking forward 100.000000 meters along route # Maximum depth: 3597.711286 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3537.526107 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.925876; longitude = -108.841182; duration = 413; initialDepth = 3530.778219; finalDepth = 3537.526107; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.1851790000001 # Actual altitude: 60.1851790000001 # Commanded vehicle depth: 3537.526107 # Seafloor depth: -3597.711286 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 106.826893 meters # Minimum depth: 3580.778219 meters looking forward 100.000000 meters along route # Maximum depth: 3586.932127 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3530.778219 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.925080; longitude = -108.840650; duration = 427; initialDepth = 3519.889731; finalDepth = 3530.778219; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.1851790000001 # Actual altitude: 60.1851790000001 # Commanded vehicle depth: 3530.778219 # Seafloor depth: -3586.932127 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 108.332071 meters # Minimum depth: 3569.889731 meters looking forward 100.000000 meters along route # Maximum depth: 3580.676447 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3519.889731 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.924258; longitude = -108.840101; duration = 433; initialDepth = 3519.539429; finalDepth = 3519.889731; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 60.7867159999996 # Actual altitude: 60.7867159999996 # Commanded vehicle depth: 3519.889731 # Seafloor depth: -3580.676447 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 123.602175 meters # Minimum depth: 3569.539429 meters looking forward 100.000000 meters along route # Maximum depth: 3582.957546 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3519.539429 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.923425; longitude = -108.839544; duration = 494; # abortOnTimeout = True; initialDepth = 3533.788092; finalDepth = 3519.539429; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.7867159999996 # Actual altitude: 60.7867159999996 # Commanded vehicle depth: 3519.539429 # Seafloor depth: -3569.539429 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 105.945926 meters # Minimum depth: 3583.788092 meters looking forward 100.000000 meters along route # Maximum depth: 3589.572389 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3533.788092 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.923792; longitude = -108.840690; duration = 423; initialDepth = 3539.872192; finalDepth = 3533.788092; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3533.788092 # Seafloor depth: -3583.788092 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 105.945639 meters # Minimum depth: 3589.872192 meters looking forward 100.000000 meters along route # Maximum depth: 3596.023492 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3539.872192 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.924106; longitude = -108.841673; duration = 423; initialDepth = 3546.672715; finalDepth = 3539.872192; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3539.872192 # Seafloor depth: -3589.872192 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.663842 meters # Minimum depth: 3596.672715 meters looking forward 100.000000 meters along route # Maximum depth: 3605.582832 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3546.672715 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.924420; longitude = -108.842656; duration = 402; initialDepth = 3556.177499; finalDepth = 3546.672715; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3546.672715 # Seafloor depth: -3596.672715 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.632086 meters # Minimum depth: 3606.177499 meters looking forward 100.000000 meters along route # Maximum depth: 3616.491513 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3556.177499 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.924719; longitude = -108.843589; duration = 402; initialDepth = 3567.468542; finalDepth = 3556.177499; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3556.177499 # Seafloor depth: -3606.177499 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 105.944810 meters # Minimum depth: 3617.468542 meters looking forward 100.000000 meters along route # Maximum depth: 3628.880006 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3567.468542 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.925017; longitude = -108.844523; duration = 423; initialDepth = 3580.283755; finalDepth = 3567.468542; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3567.468542 # Seafloor depth: -3617.468542 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 105.944524 meters # Minimum depth: 3630.283755 meters looking forward 100.000000 meters along route # Maximum depth: 3644.980603 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3580.283755 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.925332; longitude = -108.845505; duration = 423; initialDepth = 3596.261116; finalDepth = 3580.283755; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3580.283755 # Seafloor depth: -3630.283755 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 105.944238 meters # Minimum depth: 3646.261116 meters looking forward 100.000000 meters along route # Maximum depth: 3659.762517 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3596.261116 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.925646; longitude = -108.846488; duration = 423; initialDepth = 3610.596650; finalDepth = 3596.261116; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3596.261116 # Seafloor depth: -3646.261116 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 105.943953 meters # Minimum depth: 3660.596650 meters looking forward 100.000000 meters along route # Maximum depth: 3665.955328 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3610.596650 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.925960; longitude = -108.847470; duration = 423; initialDepth = 3616.356257; finalDepth = 3610.596650; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3610.59665 # Seafloor depth: -3660.596650 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 105.943666 meters # Minimum depth: 3666.356257 meters looking forward 100.000000 meters along route # Maximum depth: 3668.038704 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3616.356257 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.926274; longitude = -108.848453; duration = 423; initialDepth = 3617.048046; finalDepth = 3616.356257; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3616.356257 # Seafloor depth: -3666.356257 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 105.943381 meters # Minimum depth: 3667.048046 meters looking forward 100.000000 meters along route # Maximum depth: 3667.564498 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3617.048046 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.926589; longitude = -108.849436; duration = 423; initialDepth = 3616.966325; finalDepth = 3617.048046; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5164520000003 # Actual altitude: 50.5164520000003 # Commanded vehicle depth: 3617.048046 # Seafloor depth: -3667.564498 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 105.943094 meters # Minimum depth: 3666.966325 meters looking forward 100.000000 meters along route # Maximum depth: 3667.432021 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3616.966325 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.926903; longitude = -108.850418; duration = 423; initialDepth = 3614.973537; finalDepth = 3616.966325; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5164520000003 # Actual altitude: 50.5164520000003 # Commanded vehicle depth: 3616.966325 # Seafloor depth: -3667.384074 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 101.279108 meters # Minimum depth: 3664.973537 meters looking forward 100.000000 meters along route # Maximum depth: 3666.845671 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3614.973537 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.927217; longitude = -108.851401; duration = 405; initialDepth = 3608.111410; finalDepth = 3614.973537; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8721340000002 # Actual altitude: 51.8721340000002 # Commanded vehicle depth: 3614.973537 # Seafloor depth: -3666.845671 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.011985 meters # Minimum depth: 3658.111410 meters looking forward 100.000000 meters along route # Maximum depth: 3664.774321 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3608.111410 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.927518; longitude = -108.852340; duration = 400; initialDepth = 3595.452932; finalDepth = 3608.111410; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.6629109999999 # Actual altitude: 56.6629109999999 # Commanded vehicle depth: 3608.11141 # Seafloor depth: -3664.774321 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 105.942266 meters # Minimum depth: 3645.452932 meters looking forward 100.000000 meters along route # Maximum depth: 3657.122463 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3595.452932 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.927814; longitude = -108.853268; duration = 423; initialDepth = 3583.782292; finalDepth = 3595.452932; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.669531 # Actual altitude: 61.669531 # Commanded vehicle depth: 3595.452932 # Seafloor depth: -3657.122463 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 105.941980 meters # Minimum depth: 3633.782292 meters looking forward 100.000000 meters along route # Maximum depth: 3644.029676 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3583.782292 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.928129; longitude = -108.854251; duration = 423; initialDepth = 3579.468953; finalDepth = 3583.782292; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.669531 # Actual altitude: 61.669531 # Commanded vehicle depth: 3583.782292 # Seafloor depth: -3644.029676 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 105.941695 meters # Minimum depth: 3629.468953 meters looking forward 100.000000 meters along route # Maximum depth: 3633.414681 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3579.468953 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.928443; longitude = -108.855233; duration = 423; initialDepth = 3574.992221; finalDepth = 3579.468953; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.2473840000002 # Actual altitude: 60.2473840000002 # Commanded vehicle depth: 3579.468953 # Seafloor depth: -3633.414681 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 105.941409 meters # Minimum depth: 3624.992221 meters looking forward 100.000000 meters along route # Maximum depth: 3628.937326 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3574.992221 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.928757; longitude = -108.856216; duration = 423; initialDepth = 3573.225022; finalDepth = 3574.992221; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.9457280000001 # Actual altitude: 53.9457280000001 # Commanded vehicle depth: 3574.992221 # Seafloor depth: -3628.937326 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 105.941123 meters # Minimum depth: 3623.225022 meters looking forward 100.000000 meters along route # Maximum depth: 3624.836858 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3573.225022 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.929072; longitude = -108.857198; duration = 423; initialDepth = 3572.943711; finalDepth = 3573.225022; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.9451050000002 # Actual altitude: 53.9451050000002 # Commanded vehicle depth: 3573.225022 # Seafloor depth: -3624.836858 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.730187 meters # Minimum depth: 3622.943711 meters looking forward 100.000000 meters along route # Maximum depth: 3625.762674 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3572.943711 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.929386; longitude = -108.858181; duration = 402; initialDepth = 3576.026308; finalDepth = 3572.943711; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.611836 # Actual altitude: 51.611836 # Commanded vehicle depth: 3572.943711 # Seafloor depth: -3623.013921 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.557160 meters # Minimum depth: 3626.026308 meters looking forward 100.000000 meters along route # Maximum depth: 3628.535159 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3576.026308 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.929685; longitude = -108.859115; duration = 402; initialDepth = 3560.545581; finalDepth = 3576.026308; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0702100000003 # Actual altitude: 50.0702100000003 # Commanded vehicle depth: 3576.026308 # Seafloor depth: -3626.026308 # 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 33 # Segment length 105.940295 meters # Minimum depth: 3610.545581 meters looking forward 100.000000 meters along route # Maximum depth: 3627.422331 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3560.545581 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.929983; longitude = -108.860048; duration = 423; initialDepth = 3535.623334; finalDepth = 3560.545581; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.8767500000004 # Actual altitude: 66.8767500000004 # Commanded vehicle depth: 3560.545581 # Seafloor depth: -3627.422331 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 105.940009 meters # Minimum depth: 3585.623334 meters looking forward 100.000000 meters along route # Maximum depth: 3607.874925 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3535.623334 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.930297; longitude = -108.861031; duration = 423; initialDepth = 3527.860889; finalDepth = 3535.623334; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.2515910000002 # Actual altitude: 72.2515910000002 # Commanded vehicle depth: 3535.623334 # Seafloor depth: -3607.874925 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 105.939724 meters # Minimum depth: 3577.860889 meters looking forward 100.000000 meters along route # Maximum depth: 3584.364487 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3527.860889 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.930611; longitude = -108.862013; duration = 423; initialDepth = 3514.670993; finalDepth = 3527.860889; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.2515910000002 # Actual altitude: 72.2515910000002 # Commanded vehicle depth: 3527.860889 # Seafloor depth: -3584.364487 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 105.939438 meters # Minimum depth: 3564.670993 meters looking forward 100.000000 meters along route # Maximum depth: 3577.450282 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3514.670993 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.930926; longitude = -108.862996; duration = 423; initialDepth = 3504.793508; finalDepth = 3514.670993; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.7792889999996 # Actual altitude: 62.7792889999996 # Commanded vehicle depth: 3514.670993 # Seafloor depth: -3577.450282 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 105.939153 meters # Minimum depth: 3554.793508 meters looking forward 100.000000 meters along route # Maximum depth: 3563.244042 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3504.793508 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.931240; longitude = -108.863979; duration = 423; initialDepth = 3498.475072; finalDepth = 3504.793508; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.7792889999996 # Actual altitude: 62.7792889999996 # Commanded vehicle depth: 3504.793508 # Seafloor depth: -3563.244042 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 105.938867 meters # Minimum depth: 3548.475072 meters looking forward 100.000000 meters along route # Maximum depth: 3555.695697 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3498.475072 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.931554; longitude = -108.864961; duration = 423; initialDepth = 3483.384593; finalDepth = 3498.475072; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.4505339999996 # Actual altitude: 58.4505339999996 # Commanded vehicle depth: 3498.475072 # Seafloor depth: -3555.333600 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 105.938582 meters # Minimum depth: 3533.384593 meters looking forward 100.000000 meters along route # Maximum depth: 3547.696312 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3483.384593 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.931869; longitude = -108.865944; duration = 423; initialDepth = 3469.733169; finalDepth = 3483.384593; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.3117189999998 # Actual altitude: 64.3117189999998 # Commanded vehicle depth: 3483.384593 # Seafloor depth: -3547.696312 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 105.938296 meters # Minimum depth: 3519.733169 meters looking forward 100.000000 meters along route # Maximum depth: 3531.651452 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3469.733169 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.932183; longitude = -108.866926; duration = 423; initialDepth = 3463.451277; finalDepth = 3469.733169; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.3117189999998 # Actual altitude: 64.3117189999998 # Commanded vehicle depth: 3469.733169 # Seafloor depth: -3531.651452 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 105.938011 meters # Minimum depth: 3513.451277 meters looking forward 100.000000 meters along route # Maximum depth: 3519.271774 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3463.451277 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.932497; longitude = -108.867909; duration = 423; initialDepth = 3463.260764; finalDepth = 3463.451277; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.918283 # Actual altitude: 61.918283 # Commanded vehicle depth: 3463.451277 # Seafloor depth: -3519.271774 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 105.937725 meters # Minimum depth: 3513.260764 meters looking forward 100.000000 meters along route # Maximum depth: 3515.544215 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3463.260764 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.932811; longitude = -108.868892; duration = 423; initialDepth = 3463.554422; finalDepth = 3463.260764; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.8204969999997 # Actual altitude: 55.8204969999997 # Commanded vehicle depth: 3463.260764 # Seafloor depth: -3513.305246 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 105.937441 meters # Minimum depth: 3513.554422 meters looking forward 100.000000 meters along route # Maximum depth: 3515.597998 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3463.554422 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.933126; longitude = -108.869874; duration = 423; initialDepth = 3464.160567; finalDepth = 3463.554422; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0435189999998 # Actual altitude: 52.0435189999998 # Commanded vehicle depth: 3463.554422 # Seafloor depth: -3515.597941 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 105.937155 meters # Minimum depth: 3514.160567 meters looking forward 100.000000 meters along route # Maximum depth: 3517.234460 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3464.160567 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.933440; longitude = -108.870857; duration = 423; initialDepth = 3460.853027; finalDepth = 3464.160567; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0435189999998 # Actual altitude: 52.0435189999998 # Commanded vehicle depth: 3464.160567 # Seafloor depth: -3514.160567 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 109.471221 meters # Minimum depth: 3510.853027 meters looking forward 100.000000 meters along route # Maximum depth: 3517.239126 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3460.853027 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.933754; longitude = -108.871840; duration = 437; initialDepth = 3460.164856; finalDepth = 3460.853027; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 56.3860989999998 # Actual altitude: 56.3860989999998 # Commanded vehicle depth: 3460.853027 # Seafloor depth: -3517.239126 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 32 # Segment length 83.513194 meters # Minimum depth: 3510.164856 meters looking forward 100.000000 meters along route # Maximum depth: 3517.089002 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3460.164856 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.934079; longitude = -108.872855; duration = 334; # abortOnTimeout = True; initialDepth = 3468.348290; finalDepth = 3460.164856; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.3860989999998 # Actual altitude: 56.3860989999998 # Commanded vehicle depth: 3460.164856 # Seafloor depth: -3510.164856 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 103.622194 meters # Minimum depth: 3518.348290 meters looking forward 100.000000 meters along route # Maximum depth: 3525.614597 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3468.348290 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.934831; longitude = -108.872913; duration = 414; initialDepth = 3476.113525; finalDepth = 3468.348290; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3468.34829 # Seafloor depth: -3518.348290 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 31 # Segment length 102.600747 meters # Minimum depth: 3526.113525 meters looking forward 100.000000 meters along route # Maximum depth: 3536.711269 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3476.113525 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.935764; longitude = -108.872986; duration = 410; # abortOnTimeout = True; initialDepth = 3486.960167; finalDepth = 3476.113525; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3476.113525 # Seafloor depth: -3526.113525 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 106.137608 meters # Minimum depth: 3536.960167 meters looking forward 100.000000 meters along route # Maximum depth: 3545.999036 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3486.960167 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.935455; longitude = -108.872036; duration = 424; initialDepth = 3493.287009; finalDepth = 3486.960167; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3486.960167 # Seafloor depth: -3536.960167 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.947936 meters # Minimum depth: 3543.287009 meters looking forward 100.000000 meters along route # Maximum depth: 3546.559216 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3493.287009 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.935135; longitude = -108.871053; duration = 403; initialDepth = 3493.219379; finalDepth = 3493.287009; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1160249999998 # Actual altitude: 53.1160249999998 # Commanded vehicle depth: 3493.287009 # Seafloor depth: -3546.403034 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.714316 meters # Minimum depth: 3543.219379 meters looking forward 100.000000 meters along route # Maximum depth: 3544.590325 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3493.219379 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.934831; longitude = -108.870119; duration = 402; initialDepth = 3488.284429; finalDepth = 3493.219379; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1160249999998 # Actual altitude: 53.1160249999998 # Commanded vehicle depth: 3493.219379 # Seafloor depth: -3543.243569 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 109.059705 meters # Minimum depth: 3538.284429 meters looking forward 100.000000 meters along route # Maximum depth: 3543.504768 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3488.284429 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.934528; longitude = -108.869187; duration = 436; initialDepth = 3489.258387; finalDepth = 3488.284429; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.220339 # Actual altitude: 55.220339 # Commanded vehicle depth: 3488.284429 # Seafloor depth: -3543.504768 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 103.217476 meters # Minimum depth: 3539.258387 meters looking forward 100.000000 meters along route # Maximum depth: 3542.246163 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3489.258387 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.934199; longitude = -108.868177; duration = 412; initialDepth = 3493.146342; finalDepth = 3489.258387; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.220339 # Actual altitude: 55.220339 # Commanded vehicle depth: 3489.258387 # Seafloor depth: -3539.258387 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 106.557675 meters # Minimum depth: 3543.146342 meters looking forward 100.000000 meters along route # Maximum depth: 3560.723751 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3493.146342 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.933888; longitude = -108.867221; duration = 426; initialDepth = 3510.793438; finalDepth = 3493.146342; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3493.146342 # Seafloor depth: -3543.146342 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 105.720663 meters # Minimum depth: 3560.793438 meters looking forward 100.000000 meters along route # Maximum depth: 3571.675096 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3510.793438 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.933567; longitude = -108.866235; duration = 422; initialDepth = 3522.374641; finalDepth = 3510.793438; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3510.793438 # Seafloor depth: -3560.793438 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 106.139603 meters # Minimum depth: 3572.374641 meters looking forward 100.000000 meters along route # Maximum depth: 3581.735649 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3522.374641 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.933248; longitude = -108.865256; duration = 424; initialDepth = 3531.888505; finalDepth = 3522.374641; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3522.374641 # Seafloor depth: -3572.374641 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 106.139891 meters # Minimum depth: 3581.888505 meters looking forward 100.000000 meters along route # Maximum depth: 3589.947819 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3531.888505 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.932929; longitude = -108.864273; duration = 424; initialDepth = 3541.890101; finalDepth = 3531.888505; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3531.888505 # Seafloor depth: -3581.888505 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 106.140181 meters # Minimum depth: 3591.890101 meters looking forward 100.000000 meters along route # Maximum depth: 3606.665233 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3541.890101 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.932609; longitude = -108.863291; duration = 424; initialDepth = 3557.030290; finalDepth = 3541.890101; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3541.890101 # Seafloor depth: -3591.890101 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 106.140471 meters # Minimum depth: 3607.030290 meters looking forward 100.000000 meters along route # Maximum depth: 3622.075942 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3557.030290 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.932289; longitude = -108.862308; duration = 424; initialDepth = 3574.325165; finalDepth = 3557.030290; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3557.03029 # Seafloor depth: -3607.030290 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 106.140759 meters # Minimum depth: 3624.325165 meters looking forward 100.000000 meters along route # Maximum depth: 3639.299222 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3574.325165 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.931969; longitude = -108.861326; duration = 424; initialDepth = 3585.943440; finalDepth = 3574.325165; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3574.325165 # Seafloor depth: -3624.325165 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 106.141049 meters # Minimum depth: 3635.943440 meters looking forward 100.000000 meters along route # Maximum depth: 3640.127508 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3585.943440 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.931650; longitude = -108.860343; duration = 424; initialDepth = 3579.564660; finalDepth = 3585.943440; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7313089999998 # Actual altitude: 53.7313089999998 # Commanded vehicle depth: 3585.94344 # Seafloor depth: -3639.674749 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 106.141338 meters # Minimum depth: 3629.564660 meters looking forward 100.000000 meters along route # Maximum depth: 3635.008299 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3579.564660 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.931330; longitude = -108.859360; duration = 424; initialDepth = 3579.707824; finalDepth = 3579.564660; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.4436390000001 # Actual altitude: 55.4436390000001 # Commanded vehicle depth: 3579.56466 # Seafloor depth: -3635.008299 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 110.282548 meters # Minimum depth: 3629.707824 meters looking forward 100.000000 meters along route # Maximum depth: 3634.173204 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3579.707824 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.931010; longitude = -108.858378; duration = 441; initialDepth = 3584.257643; finalDepth = 3579.707824; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.4436390000001 # Actual altitude: 55.4436390000001 # Commanded vehicle depth: 3579.707824 # Seafloor depth: -3629.707824 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 102.000995 meters # Minimum depth: 3634.257643 meters looking forward 100.000000 meters along route # Maximum depth: 3636.987082 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3584.257643 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.930678; longitude = -108.857357; duration = 408; initialDepth = 3587.560021; finalDepth = 3584.257643; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3584.257643 # Seafloor depth: -3634.257643 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 107.780450 meters # Minimum depth: 3637.560021 meters looking forward 100.000000 meters along route # Maximum depth: 3642.577323 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3587.560021 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.930370; longitude = -108.856412; duration = 431; initialDepth = 3592.619791; finalDepth = 3587.560021; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3587.560021 # Seafloor depth: -3637.560021 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 104.504251 meters # Minimum depth: 3642.619791 meters looking forward 100.000000 meters along route # Maximum depth: 3647.861120 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3592.619791 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.930046; longitude = -108.855415; duration = 418; initialDepth = 3599.066575; finalDepth = 3592.619791; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3592.619791 # Seafloor depth: -3642.619791 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 106.142785 meters # Minimum depth: 3649.066575 meters looking forward 100.000000 meters along route # Maximum depth: 3659.766637 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3599.066575 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.929731; longitude = -108.854447; duration = 424; initialDepth = 3609.835424; finalDepth = 3599.066575; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3599.066575 # Seafloor depth: -3649.066575 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 106.143074 meters # Minimum depth: 3659.835424 meters looking forward 100.000000 meters along route # Maximum depth: 3667.397407 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3609.835424 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.929411; longitude = -108.853465; duration = 424; initialDepth = 3618.198763; finalDepth = 3609.835424; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3609.835424 # Seafloor depth: -3659.835424 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 106.143364 meters # Minimum depth: 3668.198763 meters looking forward 100.000000 meters along route # Maximum depth: 3671.681088 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3618.198763 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.929091; longitude = -108.852482; duration = 424; initialDepth = 3621.703496; finalDepth = 3618.198763; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3618.198763 # Seafloor depth: -3668.198763 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 106.143653 meters # Minimum depth: 3671.703496 meters looking forward 100.000000 meters along route # Maximum depth: 3672.689768 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3621.703496 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.928772; longitude = -108.851499; duration = 424; initialDepth = 3621.503278; finalDepth = 3621.703496; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3621.703496 # Seafloor depth: -3671.703496 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.273992 meters # Minimum depth: 3671.503278 meters looking forward 100.000000 meters along route # Maximum depth: 3672.815901 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3621.503278 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.928452; longitude = -108.850517; duration = 401; initialDepth = 3619.598596; finalDepth = 3621.503278; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2745479999999 # Actual altitude: 51.2745479999999 # Commanded vehicle depth: 3621.503278 # Seafloor depth: -3672.777826 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 101.399746 meters # Minimum depth: 3669.598596 meters looking forward 100.000000 meters along route # Maximum depth: 3671.369203 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3619.598596 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.928150; longitude = -108.849588; duration = 405; initialDepth = 3617.914765; finalDepth = 3619.598596; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7706070000004 # Actual altitude: 51.7706070000004 # Commanded vehicle depth: 3619.598596 # Seafloor depth: -3671.369203 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 108.386222 meters # Minimum depth: 3667.914765 meters looking forward 100.000000 meters along route # Maximum depth: 3669.439698 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3617.914765 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.927844; longitude = -108.848650; duration = 433; initialDepth = 3613.440365; finalDepth = 3617.914765; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7706070000004 # Actual altitude: 51.7706070000004 # Commanded vehicle depth: 3617.914765 # Seafloor depth: -3669.439698 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 103.903053 meters # Minimum depth: 3663.440365 meters looking forward 100.000000 meters along route # Maximum depth: 3667.883755 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3613.440365 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.927518; longitude = -108.847646; duration = 415; initialDepth = 3598.223502; finalDepth = 3613.440365; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.4433899999999 # Actual altitude: 54.4433899999999 # Commanded vehicle depth: 3613.440365 # Seafloor depth: -3667.883755 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 106.145071 meters # Minimum depth: 3648.223502 meters looking forward 100.000000 meters along route # Maximum depth: 3662.337996 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3598.223502 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.927205; longitude = -108.846684; duration = 424; initialDepth = 3581.872063; finalDepth = 3598.223502; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.1144940000004 # Actual altitude: 64.1144940000004 # Commanded vehicle depth: 3598.223502 # Seafloor depth: -3662.337996 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 106.145362 meters # Minimum depth: 3631.872063 meters looking forward 100.000000 meters along route # Maximum depth: 3648.186283 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3581.872063 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.926885; longitude = -108.845702; duration = 424; initialDepth = 3567.223786; finalDepth = 3581.872063; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.3142200000002 # Actual altitude: 66.3142200000002 # Commanded vehicle depth: 3581.872063 # Seafloor depth: -3648.186283 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 106.145651 meters # Minimum depth: 3617.223786 meters looking forward 100.000000 meters along route # Maximum depth: 3630.098844 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3567.223786 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.926565; longitude = -108.844719; duration = 424; initialDepth = 3555.987192; finalDepth = 3567.223786; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.3142200000002 # Actual altitude: 66.3142200000002 # Commanded vehicle depth: 3567.223786 # Seafloor depth: -3630.098844 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 106.145941 meters # Minimum depth: 3605.987192 meters looking forward 100.000000 meters along route # Maximum depth: 3616.907657 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3555.987192 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.926245; longitude = -108.843737; duration = 424; initialDepth = 3548.986767; finalDepth = 3555.987192; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.8750580000001 # Actual altitude: 62.8750580000001 # Commanded vehicle depth: 3555.987192 # Seafloor depth: -3616.907657 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.879613 meters # Minimum depth: 3598.986767 meters looking forward 100.000000 meters along route # Maximum depth: 3605.051339 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3548.986767 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.925926; longitude = -108.842754; duration = 403; initialDepth = 3540.711780; finalDepth = 3548.986767; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.9204650000001 # Actual altitude: 60.9204650000001 # Commanded vehicle depth: 3548.986767 # Seafloor depth: -3605.051339 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.798472 meters # Minimum depth: 3590.711780 meters looking forward 100.000000 meters along route # Maximum depth: 3598.575198 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3540.711780 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.925622; longitude = -108.841820; duration = 403; initialDepth = 3533.779342; finalDepth = 3540.711780; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.8634179999999 # Actual altitude: 57.8634179999999 # Commanded vehicle depth: 3540.71178 # Seafloor depth: -3598.575198 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 106.146781 meters # Minimum depth: 3583.779342 meters looking forward 100.000000 meters along route # Maximum depth: 3589.971671 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3533.779342 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.925318; longitude = -108.840887; duration = 424; initialDepth = 3524.564055; finalDepth = 3533.779342; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.8634179999999 # Actual altitude: 57.8634179999999 # Commanded vehicle depth: 3533.779342 # Seafloor depth: -3589.971671 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 102.652971 meters # Minimum depth: 3574.564055 meters looking forward 100.000000 meters along route # Maximum depth: 3582.965379 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3524.564055 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.924998; longitude = -108.839904; duration = 410; initialDepth = 3523.860535; finalDepth = 3524.564055; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 58.4013240000004 # Actual altitude: 58.4013240000004 # Commanded vehicle depth: 3524.564055 # Seafloor depth: -3582.965379 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.20; 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 30 # Segment length 148.683563 meters # Minimum depth: 3573.860535 meters looking forward 100.000000 meters along route # Maximum depth: 3583.217474 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3523.860535 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.924689; longitude = -108.838954; duration = 594; # abortOnTimeout = True; initialDepth = 3533.650879; finalDepth = 3523.860535; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 58.4013240000004 # Actual altitude: 58.4013240000004 # Commanded vehicle depth: 3523.860535 # Seafloor depth: -3573.860535 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.20; 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 29 # Segment length 113.099828 meters # Minimum depth: 3583.650879 meters looking forward 100.000000 meters along route # Maximum depth: 3585.437033 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3533.650879 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.925953; longitude = -108.838463; duration = 452; # abortOnTimeout = True; initialDepth = 3536.116606; finalDepth = 3533.650879; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3533.650879 # Seafloor depth: -3583.650879 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 108.686831 meters # Minimum depth: 3586.116606 meters looking forward 100.000000 meters along route # Maximum depth: 3597.758863 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3536.116606 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.926291; longitude = -108.839511; duration = 434; initialDepth = 3548.073433; finalDepth = 3536.116606; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3536.116606 # Seafloor depth: -3586.116606 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 103.355017 meters # Minimum depth: 3598.073433 meters looking forward 100.000000 meters along route # Maximum depth: 3606.573171 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3548.073433 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.926615; longitude = -108.840519; duration = 413; initialDepth = 3557.125631; finalDepth = 3548.073433; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3548.073433 # Seafloor depth: -3598.073433 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 108.432714 meters # Minimum depth: 3607.125631 meters looking forward 100.000000 meters along route # Maximum depth: 3612.461265 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3557.125631 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.926923; longitude = -108.841476; duration = 433; initialDepth = 3562.582717; finalDepth = 3557.125631; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3557.125631 # Seafloor depth: -3607.125631 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 103.607983 meters # Minimum depth: 3612.582717 meters looking forward 100.000000 meters along route # Maximum depth: 3617.494090 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3562.582717 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.927247; longitude = -108.842481; duration = 414; initialDepth = 3568.511948; finalDepth = 3562.582717; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3562.582717 # Seafloor depth: -3612.582717 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 108.178600 meters # Minimum depth: 3618.511948 meters looking forward 100.000000 meters along route # Maximum depth: 3635.945591 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3568.511948 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.927556; longitude = -108.843442; duration = 432; initialDepth = 3586.309390; finalDepth = 3568.511948; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3568.511948 # Seafloor depth: -3618.511948 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 103.860949 meters # Minimum depth: 3636.309390 meters looking forward 100.000000 meters along route # Maximum depth: 3650.064950 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3586.309390 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.927879; longitude = -108.844444; duration = 415; initialDepth = 3601.681997; finalDepth = 3586.309390; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3586.30939 # Seafloor depth: -3636.309390 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 107.924487 meters # Minimum depth: 3651.681997 meters looking forward 100.000000 meters along route # Maximum depth: 3665.327821 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3601.681997 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.928189; longitude = -108.845407; duration = 431; initialDepth = 3615.480642; finalDepth = 3601.681997; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3601.681997 # Seafloor depth: -3651.681997 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 104.113911 meters # Minimum depth: 3665.480642 meters looking forward 100.000000 meters along route # Maximum depth: 3670.712164 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3615.480642 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.928511; longitude = -108.846407; duration = 416; initialDepth = 3621.058441; finalDepth = 3615.480642; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3615.480642 # Seafloor depth: -3665.480642 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 107.670379 meters # Minimum depth: 3671.058441 meters looking forward 100.000000 meters along route # Maximum depth: 3671.947676 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3621.058441 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.928822; longitude = -108.847372; duration = 430; initialDepth = 3621.862057; finalDepth = 3621.058441; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3621.058441 # Seafloor depth: -3671.058441 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 104.366871 meters # Minimum depth: 3671.862057 meters looking forward 100.000000 meters along route # Maximum depth: 3673.486063 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3621.862057 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.929143; longitude = -108.848370; duration = 417; initialDepth = 3623.827468; finalDepth = 3621.862057; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3621.862057 # Seafloor depth: -3671.862057 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 107.416272 meters # Minimum depth: 3673.827468 meters looking forward 100.000000 meters along route # Maximum depth: 3675.331140 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3623.827468 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.929454; longitude = -108.849337; duration = 429; initialDepth = 3625.082880; finalDepth = 3623.827468; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3623.827468 # Seafloor depth: -3673.827468 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 104.619828 meters # Minimum depth: 3675.082880 meters looking forward 100.000000 meters along route # Maximum depth: 3675.371316 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3625.082880 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.929775; longitude = -108.850333; duration = 418; initialDepth = 3622.216342; finalDepth = 3625.082880; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1813520000001 # Actual altitude: 50.1813520000001 # Commanded vehicle depth: 3625.08288 # Seafloor depth: -3675.264232 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 107.162169 meters # Minimum depth: 3672.216342 meters looking forward 100.000000 meters along route # Maximum depth: 3675.403849 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3622.216342 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.930087; longitude = -108.851303; duration = 428; initialDepth = 3614.781107; finalDepth = 3622.216342; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1875069999996 # Actual altitude: 53.1875069999996 # Commanded vehicle depth: 3622.216342 # Seafloor depth: -3675.403849 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 104.872782 meters # Minimum depth: 3664.781107 meters looking forward 100.000000 meters along route # Maximum depth: 3672.139435 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3614.781107 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.930407; longitude = -108.852296; duration = 419; initialDepth = 3607.289129; finalDepth = 3614.781107; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.3583280000003 # Actual altitude: 57.3583280000003 # Commanded vehicle depth: 3614.781107 # Seafloor depth: -3672.139435 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 106.908069 meters # Minimum depth: 3657.289129 meters looking forward 100.000000 meters along route # Maximum depth: 3663.876545 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3607.289129 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.930720; longitude = -108.853268; duration = 427; initialDepth = 3602.561063; finalDepth = 3607.289129; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.3583280000003 # Actual altitude: 57.3583280000003 # Commanded vehicle depth: 3607.289129 # Seafloor depth: -3663.876545 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 105.125734 meters # Minimum depth: 3652.561063 meters looking forward 100.000000 meters along route # Maximum depth: 3657.254602 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3602.561063 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.931039; longitude = -108.854259; duration = 420; initialDepth = 3599.645103; finalDepth = 3602.561063; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.5874160000003 # Actual altitude: 56.5874160000003 # Commanded vehicle depth: 3602.561063 # Seafloor depth: -3657.254602 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 106.653971 meters # Minimum depth: 3649.645103 meters looking forward 100.000000 meters along route # Maximum depth: 3651.986846 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3599.645103 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.931353; longitude = -108.855233; duration = 426; initialDepth = 3594.850931; finalDepth = 3599.645103; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.6935389999999 # Actual altitude: 54.6935389999999 # Commanded vehicle depth: 3599.645103 # Seafloor depth: -3651.986846 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 105.378683 meters # Minimum depth: 3644.850931 meters looking forward 100.000000 meters along route # Maximum depth: 3649.634351 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3594.850931 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.931671; longitude = -108.856222; duration = 421; initialDepth = 3588.944925; finalDepth = 3594.850931; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7834200000002 # Actual altitude: 54.7834200000002 # Commanded vehicle depth: 3594.850931 # Seafloor depth: -3649.634351 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 106.399877 meters # Minimum depth: 3638.944925 meters looking forward 100.000000 meters along route # Maximum depth: 3644.096671 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3588.944925 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.931985; longitude = -108.857198; duration = 425; initialDepth = 3588.295318; finalDepth = 3588.944925; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.151746 # Actual altitude: 55.151746 # Commanded vehicle depth: 3588.944925 # Seafloor depth: -3644.096671 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 105.631628 meters # Minimum depth: 3638.295318 meters looking forward 100.000000 meters along route # Maximum depth: 3639.924996 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3588.295318 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.932303; longitude = -108.858185; duration = 422; initialDepth = 3590.538258; finalDepth = 3588.295318; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.151746 # Actual altitude: 55.151746 # Commanded vehicle depth: 3588.295318 # Seafloor depth: -3638.935529 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 106.145785 meters # Minimum depth: 3640.538258 meters looking forward 100.000000 meters along route # Maximum depth: 3646.433664 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3590.538258 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.932618; longitude = -108.859164; duration = 424; initialDepth = 3591.505482; finalDepth = 3590.538258; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6402109999999 # Actual altitude: 50.6402109999999 # Commanded vehicle depth: 3590.538258 # Seafloor depth: -3640.538258 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 105.884573 meters # Minimum depth: 3641.505482 meters looking forward 100.000000 meters along route # Maximum depth: 3646.432913 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3591.505482 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.932935; longitude = -108.860148; duration = 423; initialDepth = 3575.051164; finalDepth = 3591.505482; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.9274310000001 # Actual altitude: 54.9274310000001 # Commanded vehicle depth: 3591.505482 # Seafloor depth: -3646.432913 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 106.014748 meters # Minimum depth: 3625.051164 meters looking forward 100.000000 meters along route # Maximum depth: 3640.456682 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3575.051164 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.933251; longitude = -108.861129; duration = 424; initialDepth = 3570.743917; finalDepth = 3575.051164; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.405518 # Actual altitude: 65.405518 # Commanded vehicle depth: 3575.051164 # Seafloor depth: -3640.456682 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 106.014461 meters # Minimum depth: 3620.743917 meters looking forward 100.000000 meters along route # Maximum depth: 3625.037488 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3570.743917 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.933567; longitude = -108.862112; duration = 424; initialDepth = 3553.381884; finalDepth = 3570.743917; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.405518 # Actual altitude: 65.405518 # Commanded vehicle depth: 3570.743917 # Seafloor depth: -3625.037488 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 106.014174 meters # Minimum depth: 3603.381884 meters looking forward 100.000000 meters along route # Maximum depth: 3620.615676 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3553.381884 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.933884; longitude = -108.863094; duration = 424; initialDepth = 3542.578996; finalDepth = 3553.381884; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.233792 # Actual altitude: 67.233792 # Commanded vehicle depth: 3553.381884 # Seafloor depth: -3620.615676 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 106.013888 meters # Minimum depth: 3592.578996 meters looking forward 100.000000 meters along route # Maximum depth: 3603.282997 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3542.578996 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.934200; longitude = -108.864077; duration = 424; initialDepth = 3532.123854; finalDepth = 3542.578996; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.233792 # Actual altitude: 67.233792 # Commanded vehicle depth: 3542.578996 # Seafloor depth: -3603.282997 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 106.013600 meters # Minimum depth: 3582.123854 meters looking forward 100.000000 meters along route # Maximum depth: 3591.865837 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3532.123854 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.934516; longitude = -108.865059; duration = 424; initialDepth = 3523.546457; finalDepth = 3532.123854; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.7040009999996 # Actual altitude: 60.7040009999996 # Commanded vehicle depth: 3532.123854 # Seafloor depth: -3591.865837 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 106.013314 meters # Minimum depth: 3573.546457 meters looking forward 100.000000 meters along route # Maximum depth: 3582.069903 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3523.546457 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.934833; longitude = -108.866042; duration = 424; initialDepth = 3520.842621; finalDepth = 3523.546457; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.7419829999999 # Actual altitude: 59.7419829999999 # Commanded vehicle depth: 3523.546457 # Seafloor depth: -3582.069903 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 106.013027 meters # Minimum depth: 3570.842621 meters looking forward 100.000000 meters along route # Maximum depth: 3572.697415 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3520.842621 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.935149; longitude = -108.867025; duration = 424; initialDepth = 3521.587408; finalDepth = 3520.842621; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.5234460000001 # Actual altitude: 58.5234460000001 # Commanded vehicle depth: 3520.842621 # Seafloor depth: -3572.697415 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 106.012740 meters # Minimum depth: 3571.587408 meters looking forward 100.000000 meters along route # Maximum depth: 3572.464357 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3521.587408 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.935466; longitude = -108.868007; duration = 424; initialDepth = 3520.519055; finalDepth = 3521.587408; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8547940000003 # Actual altitude: 51.8547940000003 # Commanded vehicle depth: 3521.587408 # Seafloor depth: -3571.587408 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 106.012453 meters # Minimum depth: 3570.519055 meters looking forward 100.000000 meters along route # Maximum depth: 3572.519237 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3520.519055 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.935782; longitude = -108.868990; duration = 424; initialDepth = 3510.907001; finalDepth = 3520.519055; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2009889999999 # Actual altitude: 51.2009889999999 # Commanded vehicle depth: 3520.519055 # Seafloor depth: -3571.720044 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 106.012166 meters # Minimum depth: 3560.907001 meters looking forward 100.000000 meters along route # Maximum depth: 3570.445252 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3510.907001 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.936098; longitude = -108.869973; duration = 424; initialDepth = 3498.371348; finalDepth = 3510.907001; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.5382509999999 # Actual altitude: 59.5382509999999 # Commanded vehicle depth: 3510.907001 # Seafloor depth: -3570.445252 # 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 29 # Segment length 106.011880 meters # Minimum depth: 3548.371348 meters looking forward 100.000000 meters along route # Maximum depth: 3559.567392 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3498.371348 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.936415; longitude = -108.870955; duration = 424; initialDepth = 3488.782329; finalDepth = 3498.371348; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.1960439999998 # Actual altitude: 61.1960439999998 # Commanded vehicle depth: 3498.371348 # Seafloor depth: -3559.567392 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 109.520118 meters # Minimum depth: 3538.782329 meters looking forward 100.000000 meters along route # Maximum depth: 3548.284530 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3488.782329 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.936731; longitude = -108.871938; duration = 438; initialDepth = 3487.754456; finalDepth = 3488.782329; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 61.1960439999998 # Actual altitude: 61.1960439999998 # Commanded vehicle depth: 3488.782329 # Seafloor depth: -3548.284530 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 168.356277 meters # Minimum depth: 3537.754456 meters looking forward 100.000000 meters along route # Maximum depth: 3559.260527 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3487.754456 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.937058; longitude = -108.872953; duration = 673; # abortOnTimeout = True; initialDepth = 3510.151184; finalDepth = 3487.754456; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 59.5022009999998 # Actual altitude: 59.5022009999998 # Commanded vehicle depth: 3487.754456 # Seafloor depth: -3537.754456 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.75; 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 27 # Segment length 102.610024 meters # Minimum depth: 3560.151184 meters looking forward 100.000000 meters along route # Maximum depth: 3563.865146 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3510.151184 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.938563; longitude = -108.873183; duration = 410; # abortOnTimeout = True; initialDepth = 3513.947028; finalDepth = 3510.151184; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3510.151184 # Seafloor depth: -3560.151184 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 106.094151 meters # Minimum depth: 3563.947028 meters looking forward 100.000000 meters along route # Maximum depth: 3570.881597 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3513.947028 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.938255; longitude = -108.872233; duration = 424; initialDepth = 3521.751935; finalDepth = 3513.947028; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3513.947028 # Seafloor depth: -3563.947028 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 106.094439 meters # Minimum depth: 3571.751935 meters looking forward 100.000000 meters along route # Maximum depth: 3578.745001 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3521.751935 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.937936; longitude = -108.871250; duration = 424; initialDepth = 3528.996305; finalDepth = 3521.751935; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3521.751935 # Seafloor depth: -3571.751935 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 106.094728 meters # Minimum depth: 3578.996305 meters looking forward 100.000000 meters along route # Maximum depth: 3585.461551 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3528.996305 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.937618; longitude = -108.870267; duration = 424; initialDepth = 3536.542559; finalDepth = 3528.996305; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3528.996305 # Seafloor depth: -3578.996305 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.215903 meters # Minimum depth: 3586.542559 meters looking forward 100.000000 meters along route # Maximum depth: 3595.209302 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3536.542559 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.937299; longitude = -108.869285; duration = 400; initialDepth = 3541.510187; finalDepth = 3536.542559; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3536.542559 # Seafloor depth: -3586.542559 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 101.364873 meters # Minimum depth: 3591.510187 meters looking forward 100.000000 meters along route # Maximum depth: 3595.522510 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3541.510187 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.936998; longitude = -108.868357; duration = 405; initialDepth = 3541.116749; finalDepth = 3541.510187; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.8315080000002 # Actual altitude: 53.8315080000002 # Commanded vehicle depth: 3541.510187 # Seafloor depth: -3595.341695 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 109.062612 meters # Minimum depth: 3591.116749 meters looking forward 100.000000 meters along route # Maximum depth: 3596.153648 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3541.116749 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.936693; longitude = -108.867418; duration = 436; initialDepth = 3546.418823; finalDepth = 3541.116749; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.8315080000002 # Actual altitude: 53.8315080000002 # Commanded vehicle depth: 3541.116749 # Seafloor depth: -3591.248063 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 103.128804 meters # Minimum depth: 3596.418823 meters looking forward 100.000000 meters along route # Maximum depth: 3605.536076 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3546.418823 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.936366; longitude = -108.866408; duration = 412; initialDepth = 3556.661796; finalDepth = 3546.418823; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1313140000002 # Actual altitude: 50.1313140000002 # Commanded vehicle depth: 3546.418823 # Seafloor depth: -3596.418823 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 107.299815 meters # Minimum depth: 3606.661796 meters looking forward 100.000000 meters along route # Maximum depth: 3617.625073 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3556.661796 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.936056; longitude = -108.865453; duration = 429; initialDepth = 3567.787350; finalDepth = 3556.661796; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3556.661796 # Seafloor depth: -3606.661796 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 104.892754 meters # Minimum depth: 3617.787350 meters looking forward 100.000000 meters along route # Maximum depth: 3630.412481 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3567.787350 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.935734; longitude = -108.864459; duration = 419; initialDepth = 3581.439997; finalDepth = 3567.787350; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3567.78735 # Seafloor depth: -3617.787350 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 106.096717 meters # Minimum depth: 3631.439997 meters looking forward 100.000000 meters along route # Maximum depth: 3638.187760 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3581.439997 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.935419; longitude = -108.863487; duration = 424; initialDepth = 3588.218979; finalDepth = 3581.439997; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3581.439997 # Seafloor depth: -3631.439997 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 106.097006 meters # Minimum depth: 3638.218979 meters looking forward 100.000000 meters along route # Maximum depth: 3644.334710 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3588.218979 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.935100; longitude = -108.862505; duration = 424; initialDepth = 3594.953317; finalDepth = 3588.218979; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3588.218979 # Seafloor depth: -3638.218979 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 106.097294 meters # Minimum depth: 3644.953317 meters looking forward 100.000000 meters along route # Maximum depth: 3647.772002 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3594.953317 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.934781; longitude = -108.861522; duration = 424; initialDepth = 3595.419823; finalDepth = 3594.953317; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3594.953317 # Seafloor depth: -3644.953317 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 106.097583 meters # Minimum depth: 3645.419823 meters looking forward 100.000000 meters along route # Maximum depth: 3647.758080 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3595.419823 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.934463; longitude = -108.860539; duration = 424; initialDepth = 3593.152340; finalDepth = 3595.419823; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3357249999999 # Actual altitude: 52.3357249999999 # Commanded vehicle depth: 3595.419823 # Seafloor depth: -3647.755548 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 106.097871 meters # Minimum depth: 3643.152340 meters looking forward 100.000000 meters along route # Maximum depth: 3645.050378 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3593.152340 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.934144; longitude = -108.859557; duration = 424; initialDepth = 3593.212193; finalDepth = 3593.152340; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3357249999999 # Actual altitude: 52.3357249999999 # Commanded vehicle depth: 3593.15234 # Seafloor depth: -3645.050378 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 106.098160 meters # Minimum depth: 3643.212193 meters looking forward 100.000000 meters along route # Maximum depth: 3647.398754 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3593.212193 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.933826; longitude = -108.858574; duration = 424; initialDepth = 3597.887204; finalDepth = 3593.212193; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8980379999998 # Actual altitude: 51.8980379999998 # Commanded vehicle depth: 3593.212193 # Seafloor depth: -3643.212193 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.95; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.248440 meters # Minimum depth: 3647.887204 meters looking forward 100.000000 meters along route # Maximum depth: 3650.376060 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3597.887204 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.933507; longitude = -108.857592; duration = 400; initialDepth = 3600.533175; finalDepth = 3597.887204; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3597.887204 # Seafloor depth: -3647.887204 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 101.338859 meters # Minimum depth: 3650.533175 meters looking forward 100.000000 meters along route # Maximum depth: 3655.331496 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3600.533175 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.933206; longitude = -108.856663; duration = 405; initialDepth = 3606.040173; finalDepth = 3600.533175; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3600.533175 # Seafloor depth: -3650.533175 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 109.095435 meters # Minimum depth: 3656.040173 meters looking forward 100.000000 meters along route # Maximum depth: 3661.512336 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3606.040173 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.932901; longitude = -108.855725; duration = 436; initialDepth = 3611.617310; finalDepth = 3606.040173; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3606.040173 # Seafloor depth: -3656.040173 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 103.102847 meters # Minimum depth: 3661.617310 meters looking forward 100.000000 meters along route # Maximum depth: 3664.145239 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3611.617310 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.932574; longitude = -108.854714; duration = 412; initialDepth = 3614.543168; finalDepth = 3611.617310; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3611.61731 # Seafloor depth: -3661.617310 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 107.332583 meters # Minimum depth: 3664.543168 meters looking forward 100.000000 meters along route # Maximum depth: 3674.388905 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3614.543168 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.932264; longitude = -108.853759; duration = 429; initialDepth = 3624.500234; finalDepth = 3614.543168; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3614.543168 # Seafloor depth: -3664.543168 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 104.866854 meters # Minimum depth: 3674.500234 meters looking forward 100.000000 meters along route # Maximum depth: 3678.538200 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3624.500234 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.931942; longitude = -108.852765; duration = 419; initialDepth = 3628.681851; finalDepth = 3624.500234; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3624.500234 # Seafloor depth: -3674.500234 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 106.100152 meters # Minimum depth: 3678.681851 meters looking forward 100.000000 meters along route # Maximum depth: 3681.652236 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3628.681851 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.931627; longitude = -108.851794; duration = 424; initialDepth = 3629.593538; finalDepth = 3628.681851; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3628.681851 # Seafloor depth: -3678.681851 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 106.100440 meters # Minimum depth: 3679.593538 meters looking forward 100.000000 meters along route # Maximum depth: 3681.731935 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3629.593538 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.931308; longitude = -108.850811; duration = 424; initialDepth = 3627.311025; finalDepth = 3629.593538; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0680600000001 # Actual altitude: 52.0680600000001 # Commanded vehicle depth: 3629.593538 # Seafloor depth: -3681.661598 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 106.100730 meters # Minimum depth: 3677.311025 meters looking forward 100.000000 meters along route # Maximum depth: 3679.305955 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3627.311025 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.930990; longitude = -108.849829; duration = 424; initialDepth = 3623.891585; finalDepth = 3627.311025; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0680600000001 # Actual altitude: 52.0680600000001 # Commanded vehicle depth: 3627.311025 # Seafloor depth: -3679.305955 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 106.101018 meters # Minimum depth: 3673.891585 meters looking forward 100.000000 meters along route # Maximum depth: 3677.232407 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3623.891585 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.930671; longitude = -108.848846; duration = 424; initialDepth = 3620.717669; finalDepth = 3623.891585; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.3408220000001 # Actual altitude: 53.3408220000001 # Commanded vehicle depth: 3623.891585 # Seafloor depth: -3677.232407 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 106.101306 meters # Minimum depth: 3670.717669 meters looking forward 100.000000 meters along route # Maximum depth: 3673.799757 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3620.717669 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.930352; longitude = -108.847864; duration = 424; initialDepth = 3617.604963; finalDepth = 3620.717669; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.3408220000001 # Actual altitude: 53.3408220000001 # Commanded vehicle depth: 3620.717669 # Seafloor depth: -3673.799757 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 106.101596 meters # Minimum depth: 3667.604963 meters looking forward 100.000000 meters along route # Maximum depth: 3670.570532 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3617.604963 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.930034; longitude = -108.846881; duration = 424; initialDepth = 3605.779968; finalDepth = 3617.604963; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0820880000001 # Actual altitude: 53.0820880000001 # Commanded vehicle depth: 3617.604963 # Seafloor depth: -3670.570532 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.280982 meters # Minimum depth: 3655.779968 meters looking forward 100.000000 meters along route # Maximum depth: 3667.040520 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3605.779968 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.929715; longitude = -108.845898; duration = 401; initialDepth = 3588.377408; finalDepth = 3605.779968; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.2605520000002 # Actual altitude: 61.2605520000002 # Commanded vehicle depth: 3605.779968 # Seafloor depth: -3667.040520 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 101.312846 meters # Minimum depth: 3638.377408 meters looking forward 100.000000 meters along route # Maximum depth: 3654.934802 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3588.377408 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.929414; longitude = -108.844970; duration = 405; initialDepth = 3578.929232; finalDepth = 3588.377408; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.5573940000004 # Actual altitude: 66.5573940000004 # Commanded vehicle depth: 3588.377408 # Seafloor depth: -3654.934802 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 109.128265 meters # Minimum depth: 3628.929232 meters looking forward 100.000000 meters along route # Maximum depth: 3636.936345 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3578.929232 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.929109; longitude = -108.844031; duration = 436; initialDepth = 3571.311785; finalDepth = 3578.929232; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.5573940000004 # Actual altitude: 66.5573940000004 # Commanded vehicle depth: 3578.929232 # Seafloor depth: -3636.936345 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 103.076891 meters # Minimum depth: 3621.311785 meters looking forward 100.000000 meters along route # Maximum depth: 3628.698898 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3571.311785 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.928782; longitude = -108.843021; duration = 412; initialDepth = 3562.977344; finalDepth = 3571.311785; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.0071130000001 # Actual altitude: 58.0071130000001 # Commanded vehicle depth: 3571.311785 # Seafloor depth: -3628.698898 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 107.365356 meters # Minimum depth: 3612.977344 meters looking forward 100.000000 meters along route # Maximum depth: 3620.572050 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3562.977344 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.928472; longitude = -108.842066; duration = 429; initialDepth = 3553.545128; finalDepth = 3562.977344; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.5947060000003 # Actual altitude: 57.5947060000003 # Commanded vehicle depth: 3562.977344 # Seafloor depth: -3620.572050 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 104.840956 meters # Minimum depth: 3603.545128 meters looking forward 100.000000 meters along route # Maximum depth: 3612.851796 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3553.545128 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.928150; longitude = -108.841072; duration = 419; initialDepth = 3548.127018; finalDepth = 3553.545128; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.3066679999997 # Actual altitude: 59.3066679999997 # Commanded vehicle depth: 3553.545128 # Seafloor depth: -3612.851796 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 106.103590 meters # Minimum depth: 3598.127018 meters looking forward 100.000000 meters along route # Maximum depth: 3602.662623 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3548.127018 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.927835; longitude = -108.840101; duration = 424; initialDepth = 3545.242233; finalDepth = 3548.127018; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.3066679999997 # Actual altitude: 59.3066679999997 # Commanded vehicle depth: 3548.127018 # Seafloor depth: -3602.662623 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 109.619115 meters # Minimum depth: 3595.242233 meters looking forward 100.000000 meters along route # Maximum depth: 3598.117811 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3545.242233 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.927516; longitude = -108.839118; duration = 438; initialDepth = 3545.402344; finalDepth = 3545.242233; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.535605 # Actual altitude: 54.535605 # Commanded vehicle depth: 3545.242233 # Seafloor depth: -3598.117811 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 139.267384 meters # Minimum depth: 3595.402344 meters looking forward 100.000000 meters along route # Maximum depth: 3609.645238 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3545.402344 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.927187; longitude = -108.838103; duration = 557; # abortOnTimeout = True; initialDepth = 3558.192505; finalDepth = 3545.402344; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.8755780000001 # Actual altitude: 52.8755780000001 # Commanded vehicle depth: 3545.402344 # Seafloor depth: -3595.402344 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 141.644883 meters # Minimum depth: 3608.192505 meters looking forward 100.000000 meters along route # Maximum depth: 3613.559361 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3558.192505 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.928360; longitude = -108.837611; duration = 566; # abortOnTimeout = True; initialDepth = 3558.414530; finalDepth = 3558.192505; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3558.192505 # Seafloor depth: -3608.192505 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 106.193785 meters # Minimum depth: 3608.414530 meters looking forward 100.000000 meters along route # Maximum depth: 3611.525094 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3558.414530 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.928788; longitude = -108.838922; duration = 424; initialDepth = 3562.436476; finalDepth = 3558.414530; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7853559999999 # Actual altitude: 50.7853559999999 # Commanded vehicle depth: 3558.41453 # Seafloor depth: -3609.199886 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 106.193494 meters # Minimum depth: 3612.436476 meters looking forward 100.000000 meters along route # Maximum depth: 3619.731599 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3562.436476 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.929109; longitude = -108.839904; duration = 424; initialDepth = 3570.031178; finalDepth = 3562.436476; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7853559999999 # Actual altitude: 50.7853559999999 # Commanded vehicle depth: 3562.436476 # Seafloor depth: -3612.436476 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 106.193203 meters # Minimum depth: 3620.031178 meters looking forward 100.000000 meters along route # Maximum depth: 3628.366260 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3570.031178 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.929431; longitude = -108.840887; duration = 424; initialDepth = 3579.246433; finalDepth = 3570.031178; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3570.031178 # Seafloor depth: -3620.031178 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 106.192913 meters # Minimum depth: 3629.246433 meters looking forward 100.000000 meters along route # Maximum depth: 3636.739552 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3579.246433 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.929752; longitude = -108.841870; duration = 424; initialDepth = 3587.525426; finalDepth = 3579.246433; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3579.246433 # Seafloor depth: -3629.246433 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 110.493186 meters # Minimum depth: 3637.525426 meters looking forward 100.000000 meters along route # Maximum depth: 3644.243458 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3587.525426 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.930073; longitude = -108.842852; duration = 441; initialDepth = 3594.575228; finalDepth = 3587.525426; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3587.525426 # Seafloor depth: -3637.525426 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 101.891768 meters # Minimum depth: 3644.575228 meters looking forward 100.000000 meters along route # Maximum depth: 3656.697442 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3594.575228 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.930407; longitude = -108.843875; duration = 407; initialDepth = 3608.611705; finalDepth = 3594.575228; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3594.575228 # Seafloor depth: -3644.575228 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 107.111769 meters # Minimum depth: 3658.611705 meters looking forward 100.000000 meters along route # Maximum depth: 3667.053238 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3608.611705 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.930715; longitude = -108.844817; duration = 428; initialDepth = 3615.789642; finalDepth = 3608.611705; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3608.611705 # Seafloor depth: -3658.611705 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 105.272023 meters # Minimum depth: 3665.789642 meters looking forward 100.000000 meters along route # Maximum depth: 3666.652837 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3615.789642 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.931039; longitude = -108.845809; duration = 421; initialDepth = 3616.854605; finalDepth = 3615.789642; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7680359999999 # Actual altitude: 50.7680359999999 # Commanded vehicle depth: 3615.789642 # Seafloor depth: -3666.557678 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 106.191460 meters # Minimum depth: 3666.854605 meters looking forward 100.000000 meters along route # Maximum depth: 3672.153040 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3616.854605 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.931357; longitude = -108.846783; duration = 424; initialDepth = 3622.359961; finalDepth = 3616.854605; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7680359999999 # Actual altitude: 50.7680359999999 # Commanded vehicle depth: 3616.854605 # Seafloor depth: -3666.854605 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 106.191170 meters # Minimum depth: 3672.359961 meters looking forward 100.000000 meters along route # Maximum depth: 3676.384319 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3622.359961 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.931678; longitude = -108.847765; duration = 424; initialDepth = 3626.690688; finalDepth = 3622.359961; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3622.359961 # Seafloor depth: -3672.359961 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 106.190879 meters # Minimum depth: 3676.690688 meters looking forward 100.000000 meters along route # Maximum depth: 3682.672831 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3626.690688 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.931999; longitude = -108.848748; duration = 424; initialDepth = 3633.007584; finalDepth = 3626.690688; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3626.690688 # Seafloor depth: -3676.690688 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 106.190589 meters # Minimum depth: 3683.007584 meters looking forward 100.000000 meters along route # Maximum depth: 3685.454453 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3633.007584 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.932321; longitude = -108.849731; duration = 424; initialDepth = 3634.888594; finalDepth = 3633.007584; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3633.007584 # Seafloor depth: -3683.007584 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 106.190298 meters # Minimum depth: 3684.888594 meters looking forward 100.000000 meters along route # Maximum depth: 3685.270652 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3634.888594 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.932642; longitude = -108.850713; duration = 424; initialDepth = 3632.224325; finalDepth = 3634.888594; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3820580000001 # Actual altitude: 50.3820580000001 # Commanded vehicle depth: 3634.888594 # Seafloor depth: -3685.270652 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 110.205597 meters # Minimum depth: 3682.224325 meters looking forward 100.000000 meters along route # Maximum depth: 3685.165907 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3632.224325 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.932963; longitude = -108.851696; duration = 440; initialDepth = 3624.828585; finalDepth = 3632.224325; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.899977 # Actual altitude: 52.899977 # Commanded vehicle depth: 3632.224325 # Seafloor depth: -3685.124302 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 102.174128 meters # Minimum depth: 3674.828585 meters looking forward 100.000000 meters along route # Maximum depth: 3681.931903 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3624.828585 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.933296; longitude = -108.852716; duration = 408; initialDepth = 3617.664487; finalDepth = 3624.828585; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.1033179999999 # Actual altitude: 57.1033179999999 # Commanded vehicle depth: 3624.828585 # Seafloor depth: -3681.931903 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 106.824266 meters # Minimum depth: 3667.664487 meters looking forward 100.000000 meters along route # Maximum depth: 3674.121198 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3617.664487 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.933605; longitude = -108.853661; duration = 427; initialDepth = 3610.505265; finalDepth = 3617.664487; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.1033179999999 # Actual altitude: 57.1033179999999 # Commanded vehicle depth: 3617.664487 # Seafloor depth: -3674.121198 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 105.554299 meters # Minimum depth: 3660.505265 meters looking forward 100.000000 meters along route # Maximum depth: 3667.613790 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3610.505265 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.933928; longitude = -108.854650; duration = 422; initialDepth = 3605.098574; finalDepth = 3610.505265; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.1085250000001 # Actual altitude: 57.1085250000001 # Commanded vehicle depth: 3610.505265 # Seafloor depth: -3667.613790 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 106.188846 meters # Minimum depth: 3655.098574 meters looking forward 100.000000 meters along route # Maximum depth: 3660.008385 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3605.098574 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.934247; longitude = -108.855626; duration = 424; initialDepth = 3599.357496; finalDepth = 3605.098574; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.1085250000001 # Actual altitude: 57.1085250000001 # Commanded vehicle depth: 3605.098574 # Seafloor depth: -3660.008385 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 106.188557 meters # Minimum depth: 3649.357496 meters looking forward 100.000000 meters along route # Maximum depth: 3654.977641 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3599.357496 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.934568; longitude = -108.856609; duration = 424; initialDepth = 3595.536522; finalDepth = 3599.357496; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.6201449999999 # Actual altitude: 55.6201449999999 # Commanded vehicle depth: 3599.357496 # Seafloor depth: -3654.977641 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 106.188266 meters # Minimum depth: 3645.536522 meters looking forward 100.000000 meters along route # Maximum depth: 3648.566657 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3595.536522 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.934890; longitude = -108.857592; duration = 424; initialDepth = 3596.791644; finalDepth = 3595.536522; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.6201449999999 # Actual altitude: 55.6201449999999 # Commanded vehicle depth: 3595.536522 # Seafloor depth: -3648.566657 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 106.187976 meters # Minimum depth: 3646.791644 meters looking forward 100.000000 meters along route # Maximum depth: 3652.250398 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3596.791644 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.935211; longitude = -108.858574; duration = 424; initialDepth = 3602.681267; finalDepth = 3596.791644; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.030135 # Actual altitude: 53.030135 # Commanded vehicle depth: 3596.791644 # Seafloor depth: -3646.791644 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 106.187685 meters # Minimum depth: 3652.681267 meters looking forward 100.000000 meters along route # Maximum depth: 3654.015426 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3602.681267 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.935532; longitude = -108.859557; duration = 424; initialDepth = 3597.265635; finalDepth = 3602.681267; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3602.681267 # Seafloor depth: -3652.681267 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 109.918025 meters # Minimum depth: 3647.265635 meters looking forward 100.000000 meters along route # Maximum depth: 3653.186888 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3597.265635 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.935853; longitude = -108.860539; duration = 439; initialDepth = 3595.060687; finalDepth = 3597.265635; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.921253 # Actual altitude: 55.921253 # Commanded vehicle depth: 3597.265635 # Seafloor depth: -3653.186888 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 102.456476 meters # Minimum depth: 3645.060687 meters looking forward 100.000000 meters along route # Maximum depth: 3647.034265 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3595.060687 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.936185; longitude = -108.861557; duration = 409; initialDepth = 3595.987180; finalDepth = 3595.060687; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.921253 # Actual altitude: 55.921253 # Commanded vehicle depth: 3595.060687 # Seafloor depth: -3647.034265 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 106.536778 meters # Minimum depth: 3645.987180 meters looking forward 100.000000 meters along route # Maximum depth: 3647.753634 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3595.987180 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.936495; longitude = -108.862505; duration = 426; initialDepth = 3587.610206; finalDepth = 3595.987180; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9735779999996 # Actual altitude: 51.9735779999996 # Commanded vehicle depth: 3595.98718 # Seafloor depth: -3646.470029 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 105.836563 meters # Minimum depth: 3637.610206 meters looking forward 100.000000 meters along route # Maximum depth: 3645.965936 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3587.610206 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.936817; longitude = -108.863491; duration = 423; initialDepth = 3573.611968; finalDepth = 3587.610206; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.3557300000002 # Actual altitude: 58.3557300000002 # Commanded vehicle depth: 3587.610206 # Seafloor depth: -3645.965936 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 106.186235 meters # Minimum depth: 3623.611968 meters looking forward 100.000000 meters along route # Maximum depth: 3636.363612 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3573.611968 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.937137; longitude = -108.864470; duration = 424; initialDepth = 3562.345534; finalDepth = 3573.611968; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.7516439999999 # Actual altitude: 62.7516439999999 # Commanded vehicle depth: 3573.611968 # Seafloor depth: -3636.363612 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 106.185945 meters # Minimum depth: 3612.345534 meters looking forward 100.000000 meters along route # Maximum depth: 3623.133311 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3562.345534 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.937458; longitude = -108.865453; duration = 424; initialDepth = 3554.975531; finalDepth = 3562.345534; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.7516439999999 # Actual altitude: 62.7516439999999 # Commanded vehicle depth: 3562.345534 # Seafloor depth: -3623.133311 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 106.185655 meters # Minimum depth: 3604.975531 meters looking forward 100.000000 meters along route # Maximum depth: 3611.764117 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3554.975531 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.937780; longitude = -108.866435; duration = 424; initialDepth = 3546.371352; finalDepth = 3554.975531; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.787777 # Actual altitude: 60.787777 # Commanded vehicle depth: 3554.975531 # Seafloor depth: -3611.764117 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 106.185365 meters # Minimum depth: 3596.371352 meters looking forward 100.000000 meters along route # Maximum depth: 3604.385644 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3546.371352 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.938101; longitude = -108.867418; duration = 424; initialDepth = 3543.017337; finalDepth = 3546.371352; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.0142919999998 # Actual altitude: 58.0142919999998 # Commanded vehicle depth: 3546.371352 # Seafloor depth: -3604.385644 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 106.185075 meters # Minimum depth: 3593.017337 meters looking forward 100.000000 meters along route # Maximum depth: 3595.815411 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3543.017337 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.938422; longitude = -108.868400; duration = 424; initialDepth = 3540.632318; finalDepth = 3543.017337; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.0142919999998 # Actual altitude: 58.0142919999998 # Commanded vehicle depth: 3543.017337 # Seafloor depth: -3595.815411 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 109.630469 meters # Minimum depth: 3590.632318 meters looking forward 100.000000 meters along route # Maximum depth: 3592.785045 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3540.632318 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.938743; longitude = -108.869383; duration = 438; initialDepth = 3536.426649; finalDepth = 3540.632318; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7980739999998 # Actual altitude: 52.7980739999998 # Commanded vehicle depth: 3540.632318 # Seafloor depth: -3592.785045 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 102.738811 meters # Minimum depth: 3586.426649 meters looking forward 100.000000 meters along route # Maximum depth: 3590.579432 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3536.426649 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.939074; longitude = -108.870398; duration = 410; initialDepth = 3522.534556; finalDepth = 3536.426649; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.152783 # Actual altitude: 54.152783 # Commanded vehicle depth: 3536.426649 # Seafloor depth: -3590.579432 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 106.249307 meters # Minimum depth: 3572.534556 meters looking forward 100.000000 meters along route # Maximum depth: 3585.417157 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3522.534556 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.939385; longitude = -108.871348; duration = 424; initialDepth = 3506.200655; finalDepth = 3522.534556; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.8826009999998 # Actual altitude: 62.8826009999998 # Commanded vehicle depth: 3522.534556 # Seafloor depth: -3585.417157 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 109.627640 meters # Minimum depth: 3556.200655 meters looking forward 100.000000 meters along route # Maximum depth: 3572.525378 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3506.200655 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.939706; longitude = -108.872332; duration = 438; initialDepth = 3505.403442; finalDepth = 3506.200655; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 66.3247229999997 # Actual altitude: 66.3247229999997 # Commanded vehicle depth: 3506.200655 # Seafloor depth: -3572.525378 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 167.141866 meters # Minimum depth: 3555.403442 meters looking forward 100.000000 meters along route # Maximum depth: 3561.049484 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3505.403442 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.940038; longitude = -108.873346; duration = 668; # abortOnTimeout = True; initialDepth = 3511.599731; finalDepth = 3505.403442; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 66.3247229999997 # Actual altitude: 66.3247229999997 # Commanded vehicle depth: 3505.403442 # Seafloor depth: -3555.403442 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 166.456105 meters # Minimum depth: 3561.599731 meters looking forward 100.000000 meters along route # Maximum depth: 3582.834867 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3511.599731 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.941542; longitude = -108.873477; duration = 665; # abortOnTimeout = True; initialDepth = 3534.213340; finalDepth = 3511.599731; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3511.599731 # Seafloor depth: -3561.599731 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 110.316314 meters # Minimum depth: 3584.213340 meters looking forward 100.000000 meters along route # Maximum depth: 3599.334455 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3534.213340 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.941035; longitude = -108.871938; duration = 441; initialDepth = 3549.733317; finalDepth = 3534.213340; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3534.21334 # Seafloor depth: -3584.213340 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 102.223319 meters # Minimum depth: 3599.733317 meters looking forward 100.000000 meters along route # Maximum depth: 3607.025048 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3549.733317 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.940700; longitude = -108.870918; duration = 408; initialDepth = 3557.203713; finalDepth = 3549.733317; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3549.733317 # Seafloor depth: -3599.733317 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 106.270254 meters # Minimum depth: 3607.203713 meters looking forward 100.000000 meters along route # Maximum depth: 3609.195156 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3557.203713 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.940389; longitude = -108.869973; duration = 425; initialDepth = 3558.000958; finalDepth = 3557.203713; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3557.203713 # Seafloor depth: -3607.203713 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 106.270546 meters # Minimum depth: 3608.000958 meters looking forward 100.000000 meters along route # Maximum depth: 3610.064933 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3558.000958 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.940065; longitude = -108.868990; duration = 425; initialDepth = 3556.772521; finalDepth = 3558.000958; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2288100000001 # Actual altitude: 51.2288100000001 # Commanded vehicle depth: 3558.000958 # Seafloor depth: -3609.229768 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 100.549175 meters # Minimum depth: 3606.772521 meters looking forward 100.000000 meters along route # Maximum depth: 3608.805617 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3556.772521 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.939742; longitude = -108.868007; duration = 402; initialDepth = 3559.286553; finalDepth = 3556.772521; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2288100000001 # Actual altitude: 51.2288100000001 # Commanded vehicle depth: 3556.772521 # Seafloor depth: -3607.595898 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 101.365664 meters # Minimum depth: 3609.286553 meters looking forward 100.000000 meters along route # Maximum depth: 3622.021867 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3559.286553 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.939436; longitude = -108.867078; duration = 405; initialDepth = 3573.606823; finalDepth = 3559.286553; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8233770000002 # Actual altitude: 50.8233770000002 # Commanded vehicle depth: 3559.286553 # Seafloor depth: -3609.286553 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 106.292653 meters # Minimum depth: 3623.606823 meters looking forward 100.000000 meters along route # Maximum depth: 3631.580209 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3573.606823 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.939127; longitude = -108.866140; duration = 425; initialDepth = 3581.580245; finalDepth = 3573.606823; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3573.606823 # Seafloor depth: -3623.606823 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 106.250420 meters # Minimum depth: 3631.580245 meters looking forward 100.000000 meters along route # Maximum depth: 3632.946682 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3581.580245 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.938804; longitude = -108.865158; duration = 425; initialDepth = 3583.340910; finalDepth = 3581.580245; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3581.580245 # Seafloor depth: -3631.580245 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 101.409010 meters # Minimum depth: 3633.340910 meters looking forward 100.000000 meters along route # Maximum depth: 3639.010325 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3583.340910 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.938480; longitude = -108.864175; duration = 405; initialDepth = 3589.172331; finalDepth = 3583.340910; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3583.34091 # Seafloor depth: -3633.340910 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 100.507990 meters # Minimum depth: 3639.172331 meters looking forward 100.000000 meters along route # Maximum depth: 3639.821337 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3589.172331 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.938172; longitude = -108.863237; duration = 402; initialDepth = 3588.841670; finalDepth = 3589.172331; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0504219999998 # Actual altitude: 50.0504219999998 # Commanded vehicle depth: 3589.172331 # Seafloor depth: -3639.222753 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 107.152554 meters # Minimum depth: 3638.841670 meters looking forward 100.000000 meters along route # Maximum depth: 3642.555790 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3588.841670 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.937866; longitude = -108.862308; duration = 428; initialDepth = 3592.658859; finalDepth = 3588.841670; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2560920000001 # Actual altitude: 50.2560920000001 # Commanded vehicle depth: 3588.84167 # Seafloor depth: -3639.097762 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 105.392795 meters # Minimum depth: 3642.658859 meters looking forward 100.000000 meters along route # Maximum depth: 3655.884619 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3592.658859 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.937540; longitude = -108.861317; duration = 421; initialDepth = 3606.969827; finalDepth = 3592.658859; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2560920000001 # Actual altitude: 50.2560920000001 # Commanded vehicle depth: 3592.658859 # Seafloor depth: -3642.658859 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 106.273111 meters # Minimum depth: 3656.969827 meters looking forward 100.000000 meters along route # Maximum depth: 3661.630260 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3606.969827 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.937219; longitude = -108.860343; duration = 425; initialDepth = 3610.539392; finalDepth = 3606.969827; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3606.969827 # Seafloor depth: -3656.969827 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 106.273404 meters # Minimum depth: 3660.539392 meters looking forward 100.000000 meters along route # Maximum depth: 3661.734822 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3610.539392 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.936895; longitude = -108.859360; duration = 425; initialDepth = 3606.447844; finalDepth = 3610.539392; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1281610000001 # Actual altitude: 51.1281610000001 # Commanded vehicle depth: 3610.539392 # Seafloor depth: -3661.667553 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 106.273695 meters # Minimum depth: 3656.447844 meters looking forward 100.000000 meters along route # Maximum depth: 3660.218216 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3606.447844 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.936572; longitude = -108.858378; duration = 425; initialDepth = 3606.470555; finalDepth = 3606.447844; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7703720000004 # Actual altitude: 53.7703720000004 # Commanded vehicle depth: 3606.447844 # Seafloor depth: -3660.218216 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 109.776365 meters # Minimum depth: 3656.470555 meters looking forward 100.000000 meters along route # Maximum depth: 3663.055923 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3606.470555 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.936249; longitude = -108.857395; duration = 439; initialDepth = 3613.312238; finalDepth = 3606.470555; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7703720000004 # Actual altitude: 53.7703720000004 # Commanded vehicle depth: 3606.470555 # Seafloor depth: -3656.470555 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 102.771901 meters # Minimum depth: 3663.312238 meters looking forward 100.000000 meters along route # Maximum depth: 3668.212240 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3613.312238 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.935914; longitude = -108.856380; duration = 411; initialDepth = 3618.528169; finalDepth = 3613.312238; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3613.312238 # Seafloor depth: -3663.312238 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 106.274570 meters # Minimum depth: 3668.528169 meters looking forward 100.000000 meters along route # Maximum depth: 3674.557165 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3618.528169 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.935602; longitude = -108.855430; duration = 425; initialDepth = 3624.667780; finalDepth = 3618.528169; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3618.528169 # Seafloor depth: -3668.528169 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 106.274863 meters # Minimum depth: 3674.667780 meters looking forward 100.000000 meters along route # Maximum depth: 3682.614363 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3624.667780 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.935278; longitude = -108.854447; duration = 425; initialDepth = 3633.519093; finalDepth = 3624.667780; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3624.66778 # Seafloor depth: -3674.667780 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 100.008825 meters # Minimum depth: 3683.519093 meters looking forward 100.000000 meters along route # Maximum depth: 3689.130011 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3633.519093 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.934955; longitude = -108.853465; duration = 400; initialDepth = 3639.244291; finalDepth = 3633.519093; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3633.519093 # Seafloor depth: -3683.519093 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 101.914217 meters # Minimum depth: 3689.244291 meters looking forward 100.000000 meters along route # Maximum depth: 3690.815697 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3639.244291 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.934650; longitude = -108.852540; duration = 407; initialDepth = 3637.672297; finalDepth = 3639.244291; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3639.244291 # Seafloor depth: -3689.244291 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 106.275709 meters # Minimum depth: 3687.672297 meters looking forward 100.000000 meters along route # Maximum depth: 3691.553867 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3637.672297 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.934340; longitude = -108.851598; duration = 425; initialDepth = 3628.047400; finalDepth = 3637.672297; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.4034699999997 # Actual altitude: 53.4034699999997 # Commanded vehicle depth: 3637.672297 # Seafloor depth: -3691.075767 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 106.276001 meters # Minimum depth: 3678.047400 meters looking forward 100.000000 meters along route # Maximum depth: 3687.615082 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3628.047400 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.934017; longitude = -108.850615; duration = 425; initialDepth = 3624.668363; finalDepth = 3628.047400; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.5676819999999 # Actual altitude: 59.5676819999999 # Commanded vehicle depth: 3628.0474 # Seafloor depth: -3687.615082 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 100.868690 meters # Minimum depth: 3674.668363 meters looking forward 100.000000 meters along route # Maximum depth: 3677.652468 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3624.668363 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.933693; longitude = -108.849632; duration = 403; initialDepth = 3619.771760; finalDepth = 3624.668363; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.5676819999999 # Actual altitude: 59.5676819999999 # Commanded vehicle depth: 3624.668363 # Seafloor depth: -3677.652468 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 101.056517 meters # Minimum depth: 3669.771760 meters looking forward 100.000000 meters along route # Maximum depth: 3674.401364 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3619.771760 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.933386; longitude = -108.848700; duration = 404; initialDepth = 3618.266943; finalDepth = 3619.771760; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.6296039999997 # Actual altitude: 54.6296039999997 # Commanded vehicle depth: 3619.77176 # Seafloor depth: -3674.401364 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 106.612464 meters # Minimum depth: 3668.266943 meters looking forward 100.000000 meters along route # Maximum depth: 3670.213372 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3618.266943 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.933079; longitude = -108.847765; duration = 426; initialDepth = 3614.150848; finalDepth = 3618.266943; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.6296039999997 # Actual altitude: 54.6296039999997 # Commanded vehicle depth: 3618.266943 # Seafloor depth: -3669.744856 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 105.941523 meters # Minimum depth: 3664.150848 meters looking forward 100.000000 meters along route # Maximum depth: 3668.243233 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3614.150848 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.932754; longitude = -108.846780; duration = 423; initialDepth = 3614.688128; finalDepth = 3614.150848; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0923849999999 # Actual altitude: 54.0923849999999 # Commanded vehicle depth: 3614.150848 # Seafloor depth: -3668.243233 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 101.728573 meters # Minimum depth: 3664.688128 meters looking forward 100.000000 meters along route # Maximum depth: 3669.350330 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3614.688128 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.932432; longitude = -108.845800; duration = 406; initialDepth = 3613.478522; finalDepth = 3614.688128; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0923849999999 # Actual altitude: 54.0923849999999 # Commanded vehicle depth: 3614.688128 # Seafloor depth: -3664.688128 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 100.198798 meters # Minimum depth: 3663.478522 meters looking forward 100.000000 meters along route # Maximum depth: 3669.465977 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3613.478522 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.932122; longitude = -108.844859; duration = 400; initialDepth = 3604.460332; finalDepth = 3613.478522; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.952409 # Actual altitude: 55.952409 # Commanded vehicle depth: 3613.478522 # Seafloor depth: -3669.430931 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 107.472414 meters # Minimum depth: 3654.460332 meters looking forward 100.000000 meters along route # Maximum depth: 3662.536927 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3604.460332 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.931817; longitude = -108.843933; duration = 429; initialDepth = 3594.181728; finalDepth = 3604.460332; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.076595 # Actual altitude: 58.076595 # Commanded vehicle depth: 3604.460332 # Seafloor depth: -3662.536927 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 105.083852 meters # Minimum depth: 3644.181728 meters looking forward 100.000000 meters along route # Maximum depth: 3654.355210 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3594.181728 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.931490; longitude = -108.842939; duration = 420; initialDepth = 3581.697008; finalDepth = 3594.181728; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.1734820000001 # Actual altitude: 60.1734820000001 # Commanded vehicle depth: 3594.181728 # Seafloor depth: -3654.355210 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 106.278571 meters # Minimum depth: 3631.697008 meters looking forward 100.000000 meters along route # Maximum depth: 3642.875949 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3581.697008 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.931171; longitude = -108.841968; duration = 425; initialDepth = 3574.691573; finalDepth = 3581.697008; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.1789410000001 # Actual altitude: 61.1789410000001 # Commanded vehicle depth: 3581.697008 # Seafloor depth: -3642.875949 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 106.278863 meters # Minimum depth: 3624.691573 meters looking forward 100.000000 meters along route # Maximum depth: 3631.327276 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3574.691573 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.930847; longitude = -108.840985; duration = 425; initialDepth = 3574.296888; finalDepth = 3574.691573; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.1789410000001 # Actual altitude: 61.1789410000001 # Commanded vehicle depth: 3574.691573 # Seafloor depth: -3631.327276 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 106.279156 meters # Minimum depth: 3624.296888 meters looking forward 100.000000 meters along route # Maximum depth: 3626.452170 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3574.296888 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.930524; longitude = -108.840003; duration = 425; initialDepth = 3576.783759; finalDepth = 3574.296888; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.6357029999999 # Actual altitude: 56.6357029999999 # Commanded vehicle depth: 3574.296888 # Seafloor depth: -3624.442406 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 106.279448 meters # Minimum depth: 3626.783759 meters looking forward 100.000000 meters along route # Maximum depth: 3630.153470 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3576.783759 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.930200; longitude = -108.839020; duration = 425; initialDepth = 3565.730736; finalDepth = 3576.783759; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1455180000003 # Actual altitude: 50.1455180000003 # Commanded vehicle depth: 3576.783759 # Seafloor depth: -3626.783759 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 102.782626 meters # Minimum depth: 3615.730736 meters looking forward 100.000000 meters along route # Maximum depth: 3630.188484 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3565.730736 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.929877; longitude = -108.838037; duration = 411; initialDepth = 3564.206909; finalDepth = 3565.730736; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 64.4577479999998 # Actual altitude: 64.4577479999998 # Commanded vehicle depth: 3565.730736 # Seafloor depth: -3630.188484 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 141.531275 meters # Minimum depth: 3614.206909 meters looking forward 100.000000 meters along route # Maximum depth: 3636.346873 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3564.206909 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.929564; longitude = -108.837087; duration = 566; # abortOnTimeout = True; initialDepth = 3586.955322; finalDepth = 3564.206909; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 64.4577479999998 # Actual altitude: 64.4577479999998 # Commanded vehicle depth: 3564.206909 # Seafloor depth: -3614.206909 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 109.837617 meters # Minimum depth: 3636.955322 meters looking forward 100.000000 meters along route # Maximum depth: 3643.582493 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3586.955322 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.930798; longitude = -108.836727; duration = 439; # abortOnTimeout = True; initialDepth = 3591.174843; finalDepth = 3586.955322; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3586.955322 # Seafloor depth: -3636.955322 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 106.281056 meters # Minimum depth: 3641.174843 meters looking forward 100.000000 meters along route # Maximum depth: 3643.405237 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3591.174843 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.931132; longitude = -108.837743; duration = 425; initialDepth = 3593.857868; finalDepth = 3591.174843; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2303940000002 # Actual altitude: 52.2303940000002 # Commanded vehicle depth: 3591.174843 # Seafloor depth: -3643.405237 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 100.324466 meters # Minimum depth: 3643.857868 meters looking forward 100.000000 meters along route # Maximum depth: 3648.742468 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3593.857868 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.931456; longitude = -108.838725; duration = 401; initialDepth = 3598.397831; finalDepth = 3593.857868; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2303940000002 # Actual altitude: 52.2303940000002 # Commanded vehicle depth: 3593.857868 # Seafloor depth: -3643.857868 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 101.608734 meters # Minimum depth: 3648.397831 meters looking forward 100.000000 meters along route # Maximum depth: 3648.921721 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3598.397831 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.931761; longitude = -108.839653; duration = 406; initialDepth = 3596.677288; finalDepth = 3598.397831; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3816069999998 # Actual altitude: 50.3816069999998 # Commanded vehicle depth: 3598.397831 # Seafloor depth: -3648.779438 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 106.280208 meters # Minimum depth: 3646.677288 meters looking forward 100.000000 meters along route # Maximum depth: 3648.114683 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3596.677288 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.932070; longitude = -108.840592; duration = 425; initialDepth = 3597.562930; finalDepth = 3596.677288; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4373949999999 # Actual altitude: 51.4373949999999 # Commanded vehicle depth: 3596.677288 # Seafloor depth: -3648.114683 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 106.279915 meters # Minimum depth: 3647.562930 meters looking forward 100.000000 meters along route # Maximum depth: 3658.528299 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3597.562930 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.932394; longitude = -108.841575; duration = 425; initialDepth = 3610.052048; finalDepth = 3597.562930; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4373949999999 # Actual altitude: 51.4373949999999 # Commanded vehicle depth: 3597.56293 # Seafloor depth: -3647.562930 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 101.096258 meters # Minimum depth: 3660.052048 meters looking forward 100.000000 meters along route # Maximum depth: 3669.706373 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3610.052048 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.932717; longitude = -108.842557; duration = 404; initialDepth = 3620.108590; finalDepth = 3610.052048; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3610.052048 # Seafloor depth: -3660.052048 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 100.834777 meters # Minimum depth: 3670.108590 meters looking forward 100.000000 meters along route # Maximum depth: 3673.914905 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3620.108590 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.933025; longitude = -108.843492; duration = 403; initialDepth = 3616.786059; finalDepth = 3620.108590; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3620.10859 # Seafloor depth: -3670.108590 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 106.796107 meters # Minimum depth: 3666.786059 meters looking forward 100.000000 meters along route # Maximum depth: 3673.644047 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3616.786059 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.933332; longitude = -108.844424; duration = 427; initialDepth = 3616.261031; finalDepth = 3616.786059; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.8579879999998 # Actual altitude: 56.8579879999998 # Commanded vehicle depth: 3616.786059 # Seafloor depth: -3673.644047 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 105.761737 meters # Minimum depth: 3666.261031 meters looking forward 100.000000 meters along route # Maximum depth: 3667.569252 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3616.261031 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.933657; longitude = -108.845412; duration = 423; initialDepth = 3617.832538; finalDepth = 3616.261031; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.8579879999998 # Actual altitude: 56.8579879999998 # Commanded vehicle depth: 3616.261031 # Seafloor depth: -3666.772306 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 101.868033 meters # Minimum depth: 3667.832538 meters looking forward 100.000000 meters along route # Maximum depth: 3668.716610 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3617.832538 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.933979; longitude = -108.846390; duration = 407; initialDepth = 3617.978840; finalDepth = 3617.832538; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5112749999998 # Actual altitude: 50.5112749999998 # Commanded vehicle depth: 3617.832538 # Seafloor depth: -3667.832538 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 100.060837 meters # Minimum depth: 3667.978840 meters looking forward 100.000000 meters along route # Maximum depth: 3668.981891 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3617.978840 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.934289; longitude = -108.847331; duration = 400; initialDepth = 3619.439469; finalDepth = 3617.978840; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3438619999997 # Actual altitude: 50.3438619999997 # Commanded vehicle depth: 3617.97884 # Seafloor depth: -3668.322702 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 107.567818 meters # Minimum depth: 3669.439469 meters looking forward 100.000000 meters along route # Maximum depth: 3675.014810 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3619.439469 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.934594; longitude = -108.848257; duration = 430; initialDepth = 3625.062335; finalDepth = 3619.439469; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3438619999997 # Actual altitude: 50.3438619999997 # Commanded vehicle depth: 3619.439469 # Seafloor depth: -3669.439469 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 104.987748 meters # Minimum depth: 3675.062335 meters looking forward 100.000000 meters along route # Maximum depth: 3680.859402 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3625.062335 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.934921; longitude = -108.849251; duration = 419; initialDepth = 3631.926960; finalDepth = 3625.062335; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3625.062335 # Seafloor depth: -3675.062335 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 106.277345 meters # Minimum depth: 3681.926960 meters looking forward 100.000000 meters along route # Maximum depth: 3690.521168 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3631.926960 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.935241; longitude = -108.850222; duration = 425; initialDepth = 3640.751653; finalDepth = 3631.926960; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3631.92696 # Seafloor depth: -3681.926960 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 106.277053 meters # Minimum depth: 3690.751653 meters looking forward 100.000000 meters along route # Maximum depth: 3694.090181 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3640.751653 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.935564; longitude = -108.851204; duration = 425; initialDepth = 3642.343273; finalDepth = 3640.751653; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3640.751653 # Seafloor depth: -3690.751653 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 106.276761 meters # Minimum depth: 3692.343273 meters looking forward 100.000000 meters along route # Maximum depth: 3694.152435 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3642.343273 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.935888; longitude = -108.852187; duration = 425; initialDepth = 3638.585038; finalDepth = 3642.343273; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.809162 # Actual altitude: 51.809162 # Commanded vehicle depth: 3642.343273 # Seafloor depth: -3694.152435 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 110.078230 meters # Minimum depth: 3688.585038 meters looking forward 100.000000 meters along route # Maximum depth: 3692.157573 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3638.585038 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.936211; longitude = -108.853170; duration = 440; initialDepth = 3635.297876; finalDepth = 3638.585038; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.5725349999998 # Actual altitude: 53.5725349999998 # Commanded vehicle depth: 3638.585038 # Seafloor depth: -3692.157573 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 102.474416 meters # Minimum depth: 3685.297876 meters looking forward 100.000000 meters along route # Maximum depth: 3688.409005 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3635.297876 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.936546; longitude = -108.854187; duration = 409; initialDepth = 3628.385802; finalDepth = 3635.297876; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.5725349999998 # Actual altitude: 53.5725349999998 # Commanded vehicle depth: 3635.297876 # Seafloor depth: -3688.409005 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 106.275885 meters # Minimum depth: 3678.385802 meters looking forward 100.000000 meters along route # Maximum depth: 3684.954106 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3628.385802 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.936858; longitude = -108.855135; duration = 425; initialDepth = 3624.998595; finalDepth = 3628.385802; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.5683040000004 # Actual altitude: 56.5683040000004 # Commanded vehicle depth: 3628.385802 # Seafloor depth: -3684.954106 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 106.275593 meters # Minimum depth: 3674.998595 meters looking forward 100.000000 meters along route # Maximum depth: 3678.313987 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3624.998595 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.937182; longitude = -108.856118; duration = 425; initialDepth = 3623.919824; finalDepth = 3624.998595; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.5683040000004 # Actual altitude: 56.5683040000004 # Commanded vehicle depth: 3624.998595 # Seafloor depth: -3678.313987 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 100.222342 meters # Minimum depth: 3673.919824 meters looking forward 100.000000 meters along route # Maximum depth: 3674.963740 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3623.919824 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.937505; longitude = -108.857100; duration = 400; initialDepth = 3615.415418; finalDepth = 3623.919824; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.315392 # Actual altitude: 53.315392 # Commanded vehicle depth: 3623.919824 # Seafloor depth: -3674.963740 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 101.700482 meters # Minimum depth: 3665.415418 meters looking forward 100.000000 meters along route # Maximum depth: 3673.756535 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3615.415418 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.937810; longitude = -108.858027; duration = 406; initialDepth = 3599.890959; finalDepth = 3615.415418; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.3411169999999 # Actual altitude: 58.3411169999999 # Commanded vehicle depth: 3615.415418 # Seafloor depth: -3673.756535 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 106.274747 meters # Minimum depth: 3649.890959 meters looking forward 100.000000 meters along route # Maximum depth: 3663.933844 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3599.890959 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.938120; longitude = -108.858967; duration = 425; initialDepth = 3587.087045; finalDepth = 3599.890959; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.0428850000003 # Actual altitude: 64.0428850000003 # Commanded vehicle depth: 3599.890959 # Seafloor depth: -3663.933844 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 106.274455 meters # Minimum depth: 3637.087045 meters looking forward 100.000000 meters along route # Maximum depth: 3649.840864 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3587.087045 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.938444; longitude = -108.859950; duration = 425; initialDepth = 3585.507180; finalDepth = 3587.087045; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.0428850000003 # Actual altitude: 64.0428850000003 # Commanded vehicle depth: 3587.087045 # Seafloor depth: -3649.840864 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 100.994096 meters # Minimum depth: 3635.507180 meters looking forward 100.000000 meters along route # Maximum depth: 3638.311579 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3585.507180 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.938767; longitude = -108.860932; duration = 403; initialDepth = 3586.139505; finalDepth = 3585.507180; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.7538189999996 # Actual altitude: 62.7538189999996 # Commanded vehicle depth: 3585.50718 # Seafloor depth: -3636.253541 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 100.926565 meters # Minimum depth: 3636.139505 meters looking forward 100.000000 meters along route # Maximum depth: 3638.990325 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3586.139505 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.939074; longitude = -108.861866; duration = 403; initialDepth = 3582.082095; finalDepth = 3586.139505; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3552439999999 # Actual altitude: 52.3552439999999 # Commanded vehicle depth: 3586.139505 # Seafloor depth: -3638.494749 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 106.693655 meters # Minimum depth: 3632.082095 meters looking forward 100.000000 meters along route # Maximum depth: 3635.497047 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3582.082095 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.939382; longitude = -108.862799; duration = 426; initialDepth = 3581.801145; finalDepth = 3582.082095; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.4149519999996 # Actual altitude: 53.4149519999996 # Commanded vehicle depth: 3582.082095 # Seafloor depth: -3635.497047 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 105.853272 meters # Minimum depth: 3631.801145 meters looking forward 100.000000 meters along route # Maximum depth: 3633.818025 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3581.801145 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.939706; longitude = -108.863786; duration = 423; initialDepth = 3584.485812; finalDepth = 3581.801145; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.4149519999996 # Actual altitude: 53.4149519999996 # Commanded vehicle depth: 3581.801145 # Seafloor depth: -3632.075101 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 101.765835 meters # Minimum depth: 3634.485812 meters looking forward 100.000000 meters along route # Maximum depth: 3638.453954 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3584.485812 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.940029; longitude = -108.864765; duration = 407; initialDepth = 3580.003376; finalDepth = 3584.485812; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.273956 # Actual altitude: 50.273956 # Commanded vehicle depth: 3584.485812 # Seafloor depth: -3634.485812 # 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 21 # Segment length 100.152665 meters # Minimum depth: 3630.003376 meters looking forward 100.000000 meters along route # Maximum depth: 3638.253322 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3580.003376 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.940338; longitude = -108.865706; duration = 400; initialDepth = 3568.754321; finalDepth = 3580.003376; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.2499459999999 # Actual altitude: 58.2499459999999 # Commanded vehicle depth: 3580.003376 # Seafloor depth: -3638.253322 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 107.465328 meters # Minimum depth: 3618.754321 meters looking forward 100.000000 meters along route # Maximum depth: 3628.527319 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3568.754321 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.940643; longitude = -108.866632; duration = 429; initialDepth = 3560.505042; finalDepth = 3568.754321; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.7729979999999 # Actual altitude: 59.7729979999999 # Commanded vehicle depth: 3568.754321 # Seafloor depth: -3628.527319 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 105.079324 meters # Minimum depth: 3610.505042 meters looking forward 100.000000 meters along route # Maximum depth: 3618.675171 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3560.505042 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.940970; longitude = -108.867625; duration = 420; initialDepth = 3550.620360; finalDepth = 3560.505042; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.7729979999999 # Actual altitude: 59.7729979999999 # Commanded vehicle depth: 3560.505042 # Seafloor depth: -3618.675171 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 106.271888 meters # Minimum depth: 3600.620360 meters looking forward 100.000000 meters along route # Maximum depth: 3609.660144 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3550.620360 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.941290; longitude = -108.868597; duration = 425; initialDepth = 3550.036614; finalDepth = 3550.620360; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.0397840000001 # Actual altitude: 59.0397840000001 # Commanded vehicle depth: 3550.62036 # Seafloor depth: -3609.660144 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 106.271597 meters # Minimum depth: 3600.036614 meters looking forward 100.000000 meters along route # Maximum depth: 3600.463341 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3550.036614 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.941614; longitude = -108.869580; duration = 425; initialDepth = 3544.865716; finalDepth = 3550.036614; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.0397840000001 # Actual altitude: 59.0397840000001 # Commanded vehicle depth: 3550.036614 # Seafloor depth: -3600.463341 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 106.271306 meters # Minimum depth: 3594.865716 meters looking forward 100.000000 meters along route # Maximum depth: 3599.790588 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3544.865716 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.941937; longitude = -108.870562; duration = 425; initialDepth = 3529.652393; finalDepth = 3544.865716; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.9248720000001 # Actual altitude: 54.9248720000001 # Commanded vehicle depth: 3544.865716 # Seafloor depth: -3599.790588 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 106.271014 meters # Minimum depth: 3579.652393 meters looking forward 100.000000 meters along route # Maximum depth: 3594.000559 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3529.652393 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.942261; longitude = -108.871545; duration = 425; initialDepth = 3514.128606; finalDepth = 3529.652393; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.3481660000002 # Actual altitude: 64.3481660000002 # Commanded vehicle depth: 3529.652393 # Seafloor depth: -3594.000559 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 102.695909 meters # Minimum depth: 3564.128606 meters looking forward 100.000000 meters along route # Maximum depth: 3577.726755 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3514.128606 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.942584; longitude = -108.872527; duration = 410; initialDepth = 3509.812144; finalDepth = 3514.128606; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 64.3481660000002 # Actual altitude: 64.3481660000002 # Commanded vehicle depth: 3514.128606 # Seafloor depth: -3577.726755 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 161.214821 meters # Minimum depth: 3559.812144 meters looking forward 100.000000 meters along route # Maximum depth: 3563.639648 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3509.812144 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.942897; longitude = -108.873477; duration = 644; # abortOnTimeout = True; initialDepth = 3510.524414; finalDepth = 3509.812144; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 63.5981489999999 # Actual altitude: 63.5981489999999 # Commanded vehicle depth: 3509.812144 # Seafloor depth: -3563.639648 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 134.465082 meters # Minimum depth: 3560.524414 meters looking forward 100.000000 meters along route # Maximum depth: 3583.650091 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3510.524414 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.944341; longitude = -108.873674; duration = 537; # abortOnTimeout = True; initialDepth = 3534.723480; finalDepth = 3510.524414; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.8275039999999 # Actual altitude: 53.8275039999999 # Commanded vehicle depth: 3510.524414 # Seafloor depth: -3560.524414 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 106.142061 meters # Minimum depth: 3584.723480 meters looking forward 100.000000 meters along route # Maximum depth: 3598.100658 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3534.723480 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.943936; longitude = -108.872429; duration = 424; initialDepth = 3548.798299; finalDepth = 3534.723480; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3534.72348 # Seafloor depth: -3584.723480 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 106.142349 meters # Minimum depth: 3598.798299 meters looking forward 100.000000 meters along route # Maximum depth: 3602.214044 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3548.798299 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.943615; longitude = -108.871447; duration = 424; initialDepth = 3552.419052; finalDepth = 3548.798299; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3548.798299 # Seafloor depth: -3598.798299 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 106.142640 meters # Minimum depth: 3602.419052 meters looking forward 100.000000 meters along route # Maximum depth: 3604.459232 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3552.419052 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.943295; longitude = -108.870464; duration = 424; initialDepth = 3554.969906; finalDepth = 3552.419052; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3552.419052 # Seafloor depth: -3602.419052 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 106.142928 meters # Minimum depth: 3604.969906 meters looking forward 100.000000 meters along route # Maximum depth: 3611.274921 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3554.969906 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.942975; longitude = -108.869481; duration = 424; initialDepth = 3561.949425; finalDepth = 3554.969906; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3554.969906 # Seafloor depth: -3604.969906 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 109.600852 meters # Minimum depth: 3611.949425 meters looking forward 100.000000 meters along route # Maximum depth: 3617.543405 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3561.949425 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.942655; longitude = -108.868499; duration = 438; initialDepth = 3567.727888; finalDepth = 3561.949425; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3561.949425 # Seafloor depth: -3611.949425 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 102.685873 meters # Minimum depth: 3617.727888 meters looking forward 100.000000 meters along route # Maximum depth: 3626.578232 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3567.727888 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.942325; longitude = -108.867484; duration = 410; initialDepth = 3578.481748; finalDepth = 3567.727888; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3567.727888 # Seafloor depth: -3617.727888 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 106.910293 meters # Minimum depth: 3628.481748 meters looking forward 100.000000 meters along route # Maximum depth: 3639.261387 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3578.481748 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.942015; longitude = -108.866533; duration = 427; initialDepth = 3587.930675; finalDepth = 3578.481748; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3578.481748 # Seafloor depth: -3628.481748 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 105.377589 meters # Minimum depth: 3637.930675 meters looking forward 100.000000 meters along route # Maximum depth: 3639.250202 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3587.930675 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.941693; longitude = -108.865544; duration = 421; initialDepth = 3587.900184; finalDepth = 3587.930675; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3195270000001 # Actual altitude: 51.3195270000001 # Commanded vehicle depth: 3587.930675 # Seafloor depth: -3639.250202 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 106.144375 meters # Minimum depth: 3637.900184 meters looking forward 100.000000 meters along route # Maximum depth: 3638.954938 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3587.900184 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.941375; longitude = -108.864568; duration = 424; initialDepth = 3588.996811; finalDepth = 3587.900184; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3195270000001 # Actual altitude: 51.3195270000001 # Commanded vehicle depth: 3587.900184 # Seafloor depth: -3637.900184 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 106.144664 meters # Minimum depth: 3638.996811 meters looking forward 100.000000 meters along route # Maximum depth: 3641.627420 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3588.996811 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.941055; longitude = -108.863586; duration = 424; initialDepth = 3591.502871; finalDepth = 3588.996811; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3588.996811 # Seafloor depth: -3638.996811 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 101.529090 meters # Minimum depth: 3641.502871 meters looking forward 100.000000 meters along route # Maximum depth: 3642.061464 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3591.502871 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.940735; longitude = -108.862603; duration = 406; initialDepth = 3589.140497; finalDepth = 3591.502871; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.229773 # Actual altitude: 50.229773 # Commanded vehicle depth: 3591.502871 # Seafloor depth: -3641.732644 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.146571 meters # Minimum depth: 3639.140497 meters looking forward 100.000000 meters along route # Maximum depth: 3641.297543 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3589.140497 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.940429; longitude = -108.861663; duration = 400; initialDepth = 3589.386026; finalDepth = 3589.140497; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1570460000003 # Actual altitude: 52.1570460000003 # Commanded vehicle depth: 3589.140497 # Seafloor depth: -3641.297543 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 109.452982 meters # Minimum depth: 3639.386026 meters looking forward 100.000000 meters along route # Maximum depth: 3643.165327 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3589.386026 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.940127; longitude = -108.860736; duration = 437; initialDepth = 3593.339893; finalDepth = 3589.386026; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1570460000003 # Actual altitude: 52.1570460000003 # Commanded vehicle depth: 3589.386026 # Seafloor depth: -3639.386026 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 102.838315 meters # Minimum depth: 3643.339893 meters looking forward 100.000000 meters along route # Maximum depth: 3652.316457 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3593.339893 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.939797; longitude = -108.859723; duration = 411; initialDepth = 3603.878097; finalDepth = 3593.339893; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3593.339893 # Seafloor depth: -3643.339893 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 106.762365 meters # Minimum depth: 3653.878097 meters looking forward 100.000000 meters along route # Maximum depth: 3672.528291 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3603.878097 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.939487; longitude = -108.858771; duration = 427; initialDepth = 3622.627334; finalDepth = 3603.878097; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3603.878097 # Seafloor depth: -3653.878097 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 105.530091 meters # Minimum depth: 3672.627334 meters looking forward 100.000000 meters along route # Maximum depth: 3682.105985 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3622.627334 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.939165; longitude = -108.857782; duration = 422; initialDepth = 3632.438158; finalDepth = 3622.627334; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3622.627334 # Seafloor depth: -3672.627334 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 106.146662 meters # Minimum depth: 3682.438158 meters looking forward 100.000000 meters along route # Maximum depth: 3686.287146 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3632.438158 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.938847; longitude = -108.856805; duration = 424; initialDepth = 3636.361274; finalDepth = 3632.438158; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3632.438158 # Seafloor depth: -3682.438158 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 106.146952 meters # Minimum depth: 3686.361274 meters looking forward 100.000000 meters along route # Maximum depth: 3689.233842 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3636.361274 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.938526; longitude = -108.855823; duration = 424; initialDepth = 3639.676951; finalDepth = 3636.361274; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3636.361274 # Seafloor depth: -3686.361274 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 101.381045 meters # Minimum depth: 3689.676951 meters looking forward 100.000000 meters along route # Maximum depth: 3693.253636 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3639.676951 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.938206; longitude = -108.854840; duration = 405; initialDepth = 3643.426677; finalDepth = 3639.676951; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3639.676951 # Seafloor depth: -3689.676951 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.298962 meters # Minimum depth: 3693.426677 meters looking forward 100.000000 meters along route # Maximum depth: 3695.842121 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3643.426677 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.937901; longitude = -108.853902; duration = 401; initialDepth = 3646.312094; finalDepth = 3643.426677; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3643.426677 # Seafloor depth: -3693.426677 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 109.305107 meters # Minimum depth: 3696.312094 meters looking forward 100.000000 meters along route # Maximum depth: 3701.187474 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3646.312094 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.937598; longitude = -108.852973; duration = 437; initialDepth = 3647.064070; finalDepth = 3646.312094; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3646.312094 # Seafloor depth: -3696.312094 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 102.990766 meters # Minimum depth: 3697.064070 meters looking forward 100.000000 meters along route # Maximum depth: 3701.365399 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3647.064070 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.937269; longitude = -108.851961; duration = 411; initialDepth = 3626.362789; finalDepth = 3647.064070; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1479400000003 # Actual altitude: 54.1479400000003 # Commanded vehicle depth: 3647.06407 # Seafloor depth: -3701.212010 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 106.614432 meters # Minimum depth: 3676.362789 meters looking forward 100.000000 meters along route # Maximum depth: 3695.729734 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3626.362789 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.936958; longitude = -108.851008; duration = 426; initialDepth = 3618.771753; finalDepth = 3626.362789; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.3669450000002 # Actual altitude: 69.3669450000002 # Commanded vehicle depth: 3626.362789 # Seafloor depth: -3695.729734 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 105.682601 meters # Minimum depth: 3668.771753 meters looking forward 100.000000 meters along route # Maximum depth: 3676.297671 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3618.771753 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.936637; longitude = -108.850021; duration = 422; initialDepth = 3618.144329; finalDepth = 3618.771753; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.3669450000002 # Actual altitude: 69.3669450000002 # Commanded vehicle depth: 3618.771753 # Seafloor depth: -3676.297671 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 106.148951 meters # Minimum depth: 3668.144329 meters looking forward 100.000000 meters along route # Maximum depth: 3669.922826 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3618.144329 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.936318; longitude = -108.849043; duration = 424; initialDepth = 3618.997040; finalDepth = 3618.144329; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.5259179999998 # Actual altitude: 57.5259179999998 # Commanded vehicle depth: 3618.144329 # Seafloor depth: -3668.462201 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 106.149241 meters # Minimum depth: 3668.997040 meters looking forward 100.000000 meters along route # Maximum depth: 3670.468236 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3618.997040 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.935998; longitude = -108.848060; duration = 424; initialDepth = 3617.079929; finalDepth = 3618.997040; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9913119999997 # Actual altitude: 50.9913119999997 # Commanded vehicle depth: 3618.99704 # Seafloor depth: -3669.988352 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 101.232994 meters # Minimum depth: 3667.079929 meters looking forward 100.000000 meters along route # Maximum depth: 3668.649835 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3617.079929 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.935678; longitude = -108.847077; duration = 404; initialDepth = 3616.884354; finalDepth = 3617.079929; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5699060000002 # Actual altitude: 51.5699060000002 # Commanded vehicle depth: 3617.079929 # Seafloor depth: -3668.649835 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.451362 meters # Minimum depth: 3666.884354 meters looking forward 100.000000 meters along route # Maximum depth: 3668.190365 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3616.884354 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.935373; longitude = -108.846140; duration = 401; initialDepth = 3618.596448; finalDepth = 3616.884354; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5699060000002 # Actual altitude: 51.5699060000002 # Commanded vehicle depth: 3616.884354 # Seafloor depth: -3667.016136 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 109.157227 meters # Minimum depth: 3668.596448 meters looking forward 100.000000 meters along route # Maximum depth: 3674.128291 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3618.596448 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.935070; longitude = -108.845210; duration = 436; initialDepth = 3624.378117; finalDepth = 3618.596448; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1317820000004 # Actual altitude: 50.1317820000004 # Commanded vehicle depth: 3618.596448 # Seafloor depth: -3668.596448 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 103.143225 meters # Minimum depth: 3674.378117 meters looking forward 100.000000 meters along route # Maximum depth: 3679.997107 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3624.378117 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.934741; longitude = -108.844200; duration = 412; initialDepth = 3621.202152; finalDepth = 3624.378117; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3624.378117 # Seafloor depth: -3674.378117 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 106.466494 meters # Minimum depth: 3671.202152 meters looking forward 100.000000 meters along route # Maximum depth: 3679.772652 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3621.202152 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.934430; longitude = -108.843245; duration = 425; initialDepth = 3619.523586; finalDepth = 3621.202152; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.5705000000003 # Actual altitude: 58.5705000000003 # Commanded vehicle depth: 3621.202152 # Seafloor depth: -3679.772652 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 105.835118 meters # Minimum depth: 3669.523586 meters looking forward 100.000000 meters along route # Maximum depth: 3672.330785 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3619.523586 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.934109; longitude = -108.842260; duration = 423; initialDepth = 3620.821755; finalDepth = 3619.523586; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.5705000000003 # Actual altitude: 58.5705000000003 # Commanded vehicle depth: 3619.523586 # Seafloor depth: -3671.181667 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 106.151241 meters # Minimum depth: 3670.821755 meters looking forward 100.000000 meters along route # Maximum depth: 3675.974414 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3620.821755 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.933790; longitude = -108.841280; duration = 424; initialDepth = 3612.755223; finalDepth = 3620.821755; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5459089999999 # Actual altitude: 52.5459089999999 # Commanded vehicle depth: 3620.821755 # Seafloor depth: -3673.367664 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 106.151532 meters # Minimum depth: 3662.755223 meters looking forward 100.000000 meters along route # Maximum depth: 3670.504960 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3612.755223 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.933469; longitude = -108.840297; duration = 424; initialDepth = 3612.836988; finalDepth = 3612.755223; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.7497370000001 # Actual altitude: 57.7497370000001 # Commanded vehicle depth: 3612.755223 # Seafloor depth: -3670.504960 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 101.084939 meters # Minimum depth: 3662.836988 meters looking forward 100.000000 meters along route # Maximum depth: 3665.030709 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3612.836988 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.933149; longitude = -108.839315; duration = 404; initialDepth = 3610.155548; finalDepth = 3612.836988; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.7497370000001 # Actual altitude: 57.7497370000001 # Commanded vehicle depth: 3612.836988 # Seafloor depth: -3662.836988 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.603769 meters # Minimum depth: 3660.155548 meters looking forward 100.000000 meters along route # Maximum depth: 3664.763621 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3610.155548 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.932845; longitude = -108.838379; duration = 402; initialDepth = 3599.874126; finalDepth = 3610.155548; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.6080729999999 # Actual altitude: 54.6080729999999 # Commanded vehicle depth: 3610.155548 # Seafloor depth: -3664.763621 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 109.009342 meters # Minimum depth: 3649.874126 meters looking forward 100.000000 meters along route # Maximum depth: 3659.167409 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3599.874126 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.932541; longitude = -108.837448; duration = 436; initialDepth = 3600.378860; finalDepth = 3599.874126; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.293283 # Actual altitude: 59.293283 # Commanded vehicle depth: 3599.874126 # Seafloor depth: -3659.167409 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 103.295692 meters # Minimum depth: 3650.378860 meters looking forward 100.000000 meters along route # Maximum depth: 3654.467436 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3600.378860 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.932213; longitude = -108.836439; duration = 413; initialDepth = 3604.452230; finalDepth = 3600.378860; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.293283 # Actual altitude: 59.293283 # Commanded vehicle depth: 3600.37886 # Seafloor depth: -3650.378860 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 106.318550 meters # Minimum depth: 3654.452230 meters looking forward 100.000000 meters along route # Maximum depth: 3654.781893 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3604.452230 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.931901; longitude = -108.835482; duration = 425; initialDepth = 3598.866501; finalDepth = 3604.452230; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.097037 # Actual altitude: 50.097037 # Commanded vehicle depth: 3604.45223 # Seafloor depth: -3654.549267 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 105.987645 meters # Minimum depth: 3648.866501 meters looking forward 100.000000 meters along route # Maximum depth: 3654.531168 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3598.866501 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.931581; longitude = -108.834498; duration = 423; initialDepth = 3597.419994; finalDepth = 3598.866501; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.664667 # Actual altitude: 55.664667 # Commanded vehicle depth: 3598.866501 # Seafloor depth: -3654.531168 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 106.153533 meters # Minimum depth: 3647.419994 meters looking forward 100.000000 meters along route # Maximum depth: 3648.302629 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3597.419994 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.931261; longitude = -108.833517; duration = 424; initialDepth = 3591.217165; finalDepth = 3597.419994; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.664667 # Actual altitude: 55.664667 # Commanded vehicle depth: 3597.419994 # Seafloor depth: -3648.302629 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 106.153823 meters # Minimum depth: 3641.217165 meters looking forward 100.000000 meters along route # Maximum depth: 3647.428024 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3591.217165 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.930941; longitude = -108.832535; duration = 424; initialDepth = 3586.829704; finalDepth = 3591.217165; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.2108589999998 # Actual altitude: 56.2108589999998 # Commanded vehicle depth: 3591.217165 # Seafloor depth: -3647.428024 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.936879 meters # Minimum depth: 3636.829704 meters looking forward 100.000000 meters along route # Maximum depth: 3641.854272 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3586.829704 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.930621; longitude = -108.831552; duration = 403; initialDepth = 3592.724682; finalDepth = 3586.829704; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.2108589999998 # Actual altitude: 56.2108589999998 # Commanded vehicle depth: 3586.829704 # Seafloor depth: -3639.835170 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.756184 meters # Minimum depth: 3642.724682 meters looking forward 100.000000 meters along route # Maximum depth: 3652.253812 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3592.724682 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.930317; longitude = -108.830618; duration = 403; initialDepth = 3601.524869; finalDepth = 3592.724682; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0054659999996 # Actual altitude: 53.0054659999996 # Commanded vehicle depth: 3592.724682 # Seafloor depth: -3642.724682 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 108.861453 meters # Minimum depth: 3651.524869 meters looking forward 100.000000 meters along route # Maximum depth: 3680.584966 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3601.524869 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.930013; longitude = -108.829685; duration = 435; initialDepth = 3630.694207; finalDepth = 3601.524869; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3601.524869 # Seafloor depth: -3651.524869 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 103.448167 meters # Minimum depth: 3681.137059 meters looking forward 100.000000 meters along route # Maximum depth: 3685.472423 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3630.694207 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.929685; longitude = -108.828677; duration = 413; initialDepth = 3632.295324; finalDepth = 3630.694207; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4428521028317 # Actual altitude: 50.4428521028317 # Commanded vehicle depth: 3630.69420689717 # Seafloor depth: -3681.137059 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 106.170602 meters # Minimum depth: 3682.295324 meters looking forward 100.000000 meters along route # Maximum depth: 3683.603135 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3632.295324 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.929373; longitude = -108.827720; duration = 424; initialDepth = 3625.516577; finalDepth = 3632.295324; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5537019999997 # Actual altitude: 50.5537019999997 # Commanded vehicle depth: 3632.295324 # Seafloor depth: -3682.849026 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 109.649030 meters # Minimum depth: 3675.516577 meters looking forward 100.000000 meters along route # Maximum depth: 3683.687385 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3625.516577 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.929053; longitude = -108.826737; duration = 438; initialDepth = 3625.550232; finalDepth = 3625.516577; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 58.0865060000001 # Actual altitude: 58.0865060000001 # Commanded vehicle depth: 3625.516577 # Seafloor depth: -3683.603083 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 149.768871 meters # Minimum depth: 3675.550232 meters looking forward 100.000000 meters along route # Maximum depth: 3691.183823 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3625.550232 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.928722; longitude = -108.825722; duration = 599; # abortOnTimeout = True; initialDepth = 3638.068299; finalDepth = 3625.550232; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 58.0865060000001 # Actual altitude: 58.0865060000001 # Commanded vehicle depth: 3625.550232 # Seafloor depth: -3675.550232 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 166.314697 meters # Minimum depth: 3688.068299 meters looking forward 100.000000 meters along route # Maximum depth: 3691.328613 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3638.068299 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.930016; longitude = -108.825296; duration = 665; # abortOnTimeout = True; initialDepth = 3639.341822; finalDepth = 3638.068299; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2603140000001 # Actual altitude: 53.2603140000001 # Commanded vehicle depth: 3638.068299 # Seafloor depth: -3691.328613 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 106.163380 meters # Minimum depth: 3689.341822 meters looking forward 100.000000 meters along route # Maximum depth: 3704.186798 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3639.341822 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.930518; longitude = -108.826835; duration = 424; initialDepth = 3655.190642; finalDepth = 3639.341822; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2603140000001 # Actual altitude: 53.2603140000001 # Commanded vehicle depth: 3639.341822 # Seafloor depth: -3689.341822 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 106.163089 meters # Minimum depth: 3705.190642 meters looking forward 100.000000 meters along route # Maximum depth: 3707.733172 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3655.190642 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.930838; longitude = -108.827818; duration = 424; initialDepth = 3624.821644; finalDepth = 3655.190642; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3655.190642 # Seafloor depth: -3705.190642 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 110.013754 meters # Minimum depth: 3674.821644 meters looking forward 100.000000 meters along route # Maximum depth: 3705.013116 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3624.821644 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.931158; longitude = -108.828801; duration = 440; initialDepth = 3619.676557; finalDepth = 3624.821644; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.191472 # Actual altitude: 80.191472 # Commanded vehicle depth: 3624.821644 # Seafloor depth: -3705.013116 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 102.311554 meters # Minimum depth: 3669.676557 meters looking forward 100.000000 meters along route # Maximum depth: 3674.176229 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3619.676557 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.931490; longitude = -108.829819; duration = 409; initialDepth = 3616.861279; finalDepth = 3619.676557; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.191472 # Actual altitude: 80.191472 # Commanded vehicle depth: 3619.676557 # Seafloor depth: -3674.176229 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.158794 meters # Minimum depth: 3666.861279 meters looking forward 100.000000 meters along route # Maximum depth: 3669.089239 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3616.861279 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.931799; longitude = -108.830766; duration = 428; initialDepth = 3618.404111; finalDepth = 3616.861279; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.4996720000004 # Actual altitude: 54.4996720000004 # Commanded vehicle depth: 3616.861279 # Seafloor depth: -3669.089239 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 105.165352 meters # Minimum depth: 3668.404111 meters looking forward 100.000000 meters along route # Maximum depth: 3669.262994 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3618.404111 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.932122; longitude = -108.831758; duration = 420; initialDepth = 3616.938194; finalDepth = 3618.404111; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2279599999997 # Actual altitude: 52.2279599999997 # Commanded vehicle depth: 3618.404111 # Seafloor depth: -3668.559337 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 106.161638 meters # Minimum depth: 3666.938194 meters looking forward 100.000000 meters along route # Maximum depth: 3668.128719 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3616.938194 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.932440; longitude = -108.832731; duration = 424; initialDepth = 3617.915376; finalDepth = 3616.938194; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.190525 # Actual altitude: 51.190525 # Commanded vehicle depth: 3616.938194 # Seafloor depth: -3668.128719 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 106.161347 meters # Minimum depth: 3667.915376 meters looking forward 100.000000 meters along route # Maximum depth: 3673.924078 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3617.915376 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.932760; longitude = -108.833714; duration = 424; initialDepth = 3624.665101; finalDepth = 3617.915376; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.190525 # Actual altitude: 51.190525 # Commanded vehicle depth: 3617.915376 # Seafloor depth: -3667.915376 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 101.448968 meters # Minimum depth: 3674.665101 meters looking forward 100.000000 meters along route # Maximum depth: 3679.295443 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3624.665101 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.933080; longitude = -108.834696; duration = 405; initialDepth = 3628.505841; finalDepth = 3624.665101; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3624.665101 # Seafloor depth: -3674.665101 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.256792 meters # Minimum depth: 3678.505841 meters looking forward 100.000000 meters along route # Maximum depth: 3680.282880 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3628.505841 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.933386; longitude = -108.835635; duration = 401; initialDepth = 3627.565216; finalDepth = 3628.505841; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.975081 # Actual altitude: 50.975081 # Commanded vehicle depth: 3628.505841 # Seafloor depth: -3679.480922 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 109.210165 meters # Minimum depth: 3677.565216 meters looking forward 100.000000 meters along route # Maximum depth: 3681.710057 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3627.565216 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.933689; longitude = -108.836563; duration = 436; initialDepth = 3632.088126; finalDepth = 3627.565216; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.975081 # Actual altitude: 50.975081 # Commanded vehicle depth: 3627.565216 # Seafloor depth: -3678.218389 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 103.110555 meters # Minimum depth: 3682.088126 meters looking forward 100.000000 meters along route # Maximum depth: 3686.748278 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3632.088126 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.934018; longitude = -108.837574; duration = 412; initialDepth = 3634.336848; finalDepth = 3632.088126; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6531730000002 # Actual altitude: 50.6531730000002 # Commanded vehicle depth: 3632.088126 # Seafloor depth: -3682.088126 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 106.355272 meters # Minimum depth: 3684.336848 meters looking forward 100.000000 meters along route # Maximum depth: 3687.913794 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3634.336848 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.934329; longitude = -108.838529; duration = 425; initialDepth = 3637.929918; finalDepth = 3634.336848; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3320490000001 # Actual altitude: 51.3320490000001 # Commanded vehicle depth: 3634.336848 # Seafloor depth: -3685.668897 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 105.964288 meters # Minimum depth: 3687.929918 meters looking forward 100.000000 meters along route # Maximum depth: 3696.422028 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3637.929918 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.934650; longitude = -108.839513; duration = 423; initialDepth = 3644.061459; finalDepth = 3637.929918; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3320490000001 # Actual altitude: 51.3320490000001 # Commanded vehicle depth: 3637.929918 # Seafloor depth: -3687.929918 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 106.159344 meters # Minimum depth: 3694.061459 meters looking forward 100.000000 meters along route # Maximum depth: 3697.912587 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3644.061459 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.934970; longitude = -108.840494; duration = 424; initialDepth = 3636.927556; finalDepth = 3644.061459; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.8783870000002 # Actual altitude: 52.8783870000002 # Commanded vehicle depth: 3644.061459 # Seafloor depth: -3696.939846 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 106.159054 meters # Minimum depth: 3686.927556 meters looking forward 100.000000 meters along route # Maximum depth: 3693.791874 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3636.927556 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.935290; longitude = -108.841476; duration = 424; initialDepth = 3632.186174; finalDepth = 3636.927556; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.8643179999999 # Actual altitude: 56.8643179999999 # Commanded vehicle depth: 3636.927556 # Seafloor depth: -3693.791874 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.645579 meters # Minimum depth: 3682.186174 meters looking forward 100.000000 meters along route # Maximum depth: 3686.333339 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3632.186174 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.935611; longitude = -108.842459; duration = 402; initialDepth = 3630.894957; finalDepth = 3632.186174; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.8643179999999 # Actual altitude: 56.8643179999999 # Commanded vehicle depth: 3632.186174 # Seafloor depth: -3686.333339 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 101.055825 meters # Minimum depth: 3680.894957 meters looking forward 100.000000 meters along route # Maximum depth: 3682.017628 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3630.894957 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.935914; longitude = -108.843391; duration = 404; initialDepth = 3630.469858; finalDepth = 3630.894957; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1471649999999 # Actual altitude: 54.1471649999999 # Commanded vehicle depth: 3630.894957 # Seafloor depth: -3682.017628 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 108.406613 meters # Minimum depth: 3680.469858 meters looking forward 100.000000 meters along route # Maximum depth: 3681.322169 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3630.469858 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.936219; longitude = -108.844326; duration = 433; initialDepth = 3625.787377; finalDepth = 3630.469858; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1226710000001 # Actual altitude: 51.1226710000001 # Commanded vehicle depth: 3630.469858 # Seafloor depth: -3681.148376 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 103.909523 meters # Minimum depth: 3675.787377 meters looking forward 100.000000 meters along route # Maximum depth: 3680.379741 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3625.787377 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.936546; longitude = -108.845330; duration = 415; initialDepth = 3624.875768; finalDepth = 3625.787377; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5923640000001 # Actual altitude: 54.5923640000001 # Commanded vehicle depth: 3625.787377 # Seafloor depth: -3680.379741 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 106.157633 meters # Minimum depth: 3674.875768 meters looking forward 100.000000 meters along route # Maximum depth: 3675.640557 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3624.875768 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.936860; longitude = -108.846291; duration = 424; initialDepth = 3624.603207; finalDepth = 3624.875768; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5923640000001 # Actual altitude: 54.5923640000001 # Commanded vehicle depth: 3624.875768 # Seafloor depth: -3675.456931 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 106.157343 meters # Minimum depth: 3674.603207 meters looking forward 100.000000 meters along route # Maximum depth: 3675.682077 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3624.603207 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.937180; longitude = -108.847274; duration = 424; initialDepth = 3624.355057; finalDepth = 3624.603207; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0452249999998 # Actual altitude: 51.0452249999998 # Commanded vehicle depth: 3624.603207 # Seafloor depth: -3675.648432 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 106.157053 meters # Minimum depth: 3674.355057 meters looking forward 100.000000 meters along route # Maximum depth: 3674.841590 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3624.355057 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.937501; longitude = -108.848257; duration = 424; initialDepth = 3624.908834; finalDepth = 3624.355057; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0452249999998 # Actual altitude: 51.0452249999998 # Commanded vehicle depth: 3624.355057 # Seafloor depth: -3674.494178 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 106.156763 meters # Minimum depth: 3674.908834 meters looking forward 100.000000 meters along route # Maximum depth: 3682.060157 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3624.908834 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.937821; longitude = -108.849239; duration = 424; initialDepth = 3633.505013; finalDepth = 3624.908834; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1391209999997 # Actual altitude: 50.1391209999997 # Commanded vehicle depth: 3624.908834 # Seafloor depth: -3674.908834 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 106.156473 meters # Minimum depth: 3683.505013 meters looking forward 100.000000 meters along route # Maximum depth: 3699.842032 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3633.505013 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.938141; longitude = -108.850222; duration = 424; initialDepth = 3650.966315; finalDepth = 3633.505013; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3633.505013 # Seafloor depth: -3683.505013 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 106.156183 meters # Minimum depth: 3700.966315 meters looking forward 100.000000 meters along route # Maximum depth: 3708.948919 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3650.966315 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.938462; longitude = -108.851204; duration = 424; initialDepth = 3649.929269; finalDepth = 3650.966315; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3650.966315 # Seafloor depth: -3700.966315 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 106.155894 meters # Minimum depth: 3699.929269 meters looking forward 100.000000 meters along route # Maximum depth: 3707.987977 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3649.929269 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.938782; longitude = -108.852187; duration = 424; initialDepth = 3642.560084; finalDepth = 3649.929269; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.0587079999996 # Actual altitude: 58.0587079999996 # Commanded vehicle depth: 3649.929269 # Seafloor depth: -3707.987977 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 110.521332 meters # Minimum depth: 3692.560084 meters looking forward 100.000000 meters along route # Maximum depth: 3699.218282 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3642.560084 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.939102; longitude = -108.853170; duration = 442; initialDepth = 3638.138544; finalDepth = 3642.560084; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.0587079999996 # Actual altitude: 58.0587079999996 # Commanded vehicle depth: 3642.560084 # Seafloor depth: -3699.218282 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 101.789585 meters # Minimum depth: 3688.138544 meters looking forward 100.000000 meters along route # Maximum depth: 3692.367929 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3638.138544 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.939436; longitude = -108.854193; duration = 407; initialDepth = 3633.540773; finalDepth = 3638.138544; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.6581979999996 # Actual altitude: 56.6581979999996 # Commanded vehicle depth: 3638.138544 # Seafloor depth: -3692.367929 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.666564 meters # Minimum depth: 3683.540773 meters looking forward 100.000000 meters along route # Maximum depth: 3687.613542 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3633.540773 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.939743; longitude = -108.855135; duration = 430; initialDepth = 3631.228168; finalDepth = 3633.540773; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.2293850000001 # Actual altitude: 54.2293850000001 # Commanded vehicle depth: 3633.540773 # Seafloor depth: -3687.613542 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 104.643193 meters # Minimum depth: 3681.228168 meters looking forward 100.000000 meters along route # Maximum depth: 3683.503477 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3631.228168 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.940068; longitude = -108.856132; duration = 418; initialDepth = 3625.824285; finalDepth = 3631.228168; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0727689999999 # Actual altitude: 54.0727689999999 # Commanded vehicle depth: 3631.228168 # Seafloor depth: -3683.503477 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 106.154445 meters # Minimum depth: 3675.824285 meters looking forward 100.000000 meters along route # Maximum depth: 3680.868618 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3625.824285 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.940383; longitude = -108.857100; duration = 424; initialDepth = 3617.998295; finalDepth = 3625.824285; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.0443329999998 # Actual altitude: 55.0443329999998 # Commanded vehicle depth: 3625.824285 # Seafloor depth: -3680.868618 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 106.154154 meters # Minimum depth: 3667.998295 meters looking forward 100.000000 meters along route # Maximum depth: 3675.736605 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3617.998295 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.940704; longitude = -108.858083; duration = 424; initialDepth = 3605.201520; finalDepth = 3617.998295; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.7383100000002 # Actual altitude: 57.7383100000002 # Commanded vehicle depth: 3617.998295 # Seafloor depth: -3675.736605 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 106.153865 meters # Minimum depth: 3655.201520 meters looking forward 100.000000 meters along route # Maximum depth: 3666.881665 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3605.201520 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.941024; longitude = -108.859065; duration = 424; initialDepth = 3597.946941; finalDepth = 3605.201520; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.6801449999998 # Actual altitude: 61.6801449999998 # Commanded vehicle depth: 3605.20152 # Seafloor depth: -3666.881665 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 106.153575 meters # Minimum depth: 3647.946941 meters looking forward 100.000000 meters along route # Maximum depth: 3654.848991 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3597.946941 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.941344; longitude = -108.860048; duration = 424; initialDepth = 3596.955635; finalDepth = 3597.946941; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.6801449999998 # Actual altitude: 61.6801449999998 # Commanded vehicle depth: 3597.946941 # Seafloor depth: -3654.848991 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 106.153285 meters # Minimum depth: 3646.955635 meters looking forward 100.000000 meters along route # Maximum depth: 3648.056913 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3596.955635 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.941665; longitude = -108.861031; duration = 424; initialDepth = 3598.034005; finalDepth = 3596.955635; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.9020499999997 # Actual altitude: 56.9020499999997 # Commanded vehicle depth: 3596.955635 # Seafloor depth: -3647.514714 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 106.152996 meters # Minimum depth: 3648.034005 meters looking forward 100.000000 meters along route # Maximum depth: 3648.738908 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3598.034005 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.941985; longitude = -108.862013; duration = 424; initialDepth = 3595.660341; finalDepth = 3598.034005; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5590790000001 # Actual altitude: 50.5590790000001 # Commanded vehicle depth: 3598.034005 # Seafloor depth: -3648.234338 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 106.152706 meters # Minimum depth: 3645.660341 meters looking forward 100.000000 meters along route # Maximum depth: 3647.734172 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3595.660341 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.942305; longitude = -108.862996; duration = 424; initialDepth = 3595.524495; finalDepth = 3595.660341; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0738310000002 # Actual altitude: 52.0738310000002 # Commanded vehicle depth: 3595.660341 # Seafloor depth: -3647.734172 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 109.781242 meters # Minimum depth: 3645.524495 meters looking forward 100.000000 meters along route # Maximum depth: 3646.044518 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3595.524495 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.942626; longitude = -108.863979; duration = 439; initialDepth = 3590.692382; finalDepth = 3595.524495; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0738310000002 # Actual altitude: 52.0738310000002 # Commanded vehicle depth: 3595.524495 # Seafloor depth: -3645.598436 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 102.523302 meters # Minimum depth: 3640.692382 meters looking forward 100.000000 meters along route # Maximum depth: 3645.755347 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3590.692382 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.942957; longitude = -108.864995; duration = 410; initialDepth = 3579.297759; finalDepth = 3590.692382; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.0629649999996 # Actual altitude: 55.0629649999996 # Commanded vehicle depth: 3590.692382 # Seafloor depth: -3645.755347 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 106.926564 meters # Minimum depth: 3629.297759 meters looking forward 100.000000 meters along route # Maximum depth: 3639.525969 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3579.297759 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.943266; longitude = -108.865944; duration = 427; initialDepth = 3573.928729; finalDepth = 3579.297759; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.2282099999998 # Actual altitude: 60.2282099999998 # Commanded vehicle depth: 3579.297759 # Seafloor depth: -3639.525969 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 105.376821 meters # Minimum depth: 3623.928729 meters looking forward 100.000000 meters along route # Maximum depth: 3629.258308 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3573.928729 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.943589; longitude = -108.866934; duration = 421; initialDepth = 3567.643982; finalDepth = 3573.928729; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.2282099999998 # Actual altitude: 60.2282099999998 # Commanded vehicle depth: 3573.928729 # Seafloor depth: -3629.258308 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 106.151259 meters # Minimum depth: 3617.643982 meters looking forward 100.000000 meters along route # Maximum depth: 3623.273723 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3567.643982 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.943907; longitude = -108.867909; duration = 424; initialDepth = 3563.404740; finalDepth = 3567.643982; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.6297409999997 # Actual altitude: 55.6297409999997 # Commanded vehicle depth: 3567.643982 # Seafloor depth: -3623.273723 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 106.150969 meters # Minimum depth: 3613.404740 meters looking forward 100.000000 meters along route # Maximum depth: 3617.552165 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3563.404740 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.944227; longitude = -108.868892; duration = 424; initialDepth = 3559.329045; finalDepth = 3563.404740; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.6297409999997 # Actual altitude: 55.6297409999997 # Commanded vehicle depth: 3563.40474 # Seafloor depth: -3617.552165 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 101.217301 meters # Minimum depth: 3609.329045 meters looking forward 100.000000 meters along route # Maximum depth: 3613.298828 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3559.329045 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.944547; longitude = -108.869874; duration = 404; initialDepth = 3547.885250; finalDepth = 3559.329045; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1474250000001 # Actual altitude: 54.1474250000001 # Commanded vehicle depth: 3559.329045 # Seafloor depth: -3613.298828 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.468742 meters # Minimum depth: 3597.885250 meters looking forward 100.000000 meters along route # Maximum depth: 3608.720393 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3547.885250 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.944853; longitude = -108.870811; duration = 401; initialDepth = 3529.649361; finalDepth = 3547.885250; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.8351430000002 # Actual altitude: 60.8351430000002 # Commanded vehicle depth: 3547.88525 # Seafloor depth: -3608.720393 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 106.150130 meters # Minimum depth: 3579.649361 meters looking forward 100.000000 meters along route # Maximum depth: 3596.234249 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3529.649361 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.945156; longitude = -108.871741; duration = 424; initialDepth = 3520.151050; finalDepth = 3529.649361; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.5848879999999 # Actual altitude: 66.5848879999999 # Commanded vehicle depth: 3529.649361 # Seafloor depth: -3596.234249 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 102.630406 meters # Minimum depth: 3570.151050 meters looking forward 100.000000 meters along route # Maximum depth: 3578.251276 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3520.151050 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.945476; longitude = -108.872724; duration = 410; initialDepth = 3519.927673; finalDepth = 3520.151050; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 66.5848879999999 # Actual altitude: 66.5848879999999 # Commanded vehicle depth: 3520.15105 # Seafloor depth: -3578.251276 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 170.335486 meters # Minimum depth: 3569.927673 meters looking forward 100.000000 meters along route # Maximum depth: 3577.630028 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3519.927673 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.945786; longitude = -108.873674; duration = 681; # abortOnTimeout = True; initialDepth = 3528.290894; finalDepth = 3519.927673; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 58.100226 # Actual altitude: 58.100226 # Commanded vehicle depth: 3519.927673 # Seafloor depth: -3569.927673 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 176.988371 meters # Minimum depth: 3578.290894 meters looking forward 100.000000 meters along route # Maximum depth: 3594.644631 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3528.290894 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.947321; longitude = -108.873772; duration = 707; # abortOnTimeout = True; initialDepth = 3546.252381; finalDepth = 3528.290894; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3528.290894 # Seafloor depth: -3578.290894 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 101.339678 meters # Minimum depth: 3596.252381 meters looking forward 100.000000 meters along route # Maximum depth: 3610.501932 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3546.252381 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.946785; longitude = -108.872134; duration = 405; initialDepth = 3561.249151; finalDepth = 3546.252381; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3546.252381 # Seafloor depth: -3596.252381 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.438848 meters # Minimum depth: 3611.249151 meters looking forward 100.000000 meters along route # Maximum depth: 3617.970204 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3561.249151 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.946478; longitude = -108.871197; duration = 401; initialDepth = 3568.383858; finalDepth = 3561.249151; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3561.249151 # Seafloor depth: -3611.249151 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 108.228935 meters # Minimum depth: 3618.383858 meters looking forward 100.000000 meters along route # Maximum depth: 3625.775104 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3568.383858 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.946174; longitude = -108.870267; duration = 432; initialDepth = 3575.928476; finalDepth = 3568.383858; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3568.383858 # Seafloor depth: -3618.383858 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 104.170646 meters # Minimum depth: 3625.928476 meters looking forward 100.000000 meters along route # Maximum depth: 3633.207393 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3575.928476 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.945846; longitude = -108.869266; duration = 416; initialDepth = 3584.071868; finalDepth = 3575.928476; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3575.928476 # Seafloor depth: -3625.928476 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 106.200226 meters # Minimum depth: 3634.071868 meters looking forward 100.000000 meters along route # Maximum depth: 3638.742050 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3584.071868 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.945530; longitude = -108.868302; duration = 424; initialDepth = 3588.761226; finalDepth = 3584.071868; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3584.071868 # Seafloor depth: -3634.071868 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 106.200516 meters # Minimum depth: 3638.761226 meters looking forward 100.000000 meters along route # Maximum depth: 3641.888923 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3588.761226 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.945209; longitude = -108.867320; duration = 424; initialDepth = 3592.118215; finalDepth = 3588.761226; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3588.761226 # Seafloor depth: -3638.761226 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.767542 meters # Minimum depth: 3642.118215 meters looking forward 100.000000 meters along route # Maximum depth: 3644.725154 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3592.118215 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.944887; longitude = -108.866337; duration = 403; initialDepth = 3595.027997; finalDepth = 3592.118215; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3592.118215 # Seafloor depth: -3642.118215 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 101.014239 meters # Minimum depth: 3645.027997 meters looking forward 100.000000 meters along route # Maximum depth: 3651.200898 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3595.027997 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.944582; longitude = -108.865405; duration = 404; initialDepth = 3602.114357; finalDepth = 3595.027997; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3595.027997 # Seafloor depth: -3645.027997 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.656908 meters # Minimum depth: 3652.114357 meters looking forward 100.000000 meters along route # Maximum depth: 3659.597375 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3602.114357 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.944276; longitude = -108.864470; duration = 430; initialDepth = 3609.641760; finalDepth = 3602.114357; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3602.114357 # Seafloor depth: -3652.114357 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 104.746100 meters # Minimum depth: 3659.641760 meters looking forward 100.000000 meters along route # Maximum depth: 3661.315657 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3609.641760 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.943950; longitude = -108.863474; duration = 418; initialDepth = 3609.059448; finalDepth = 3609.641760; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3609.64176 # Seafloor depth: -3659.641760 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 106.201939 meters # Minimum depth: 3659.059448 meters looking forward 100.000000 meters along route # Maximum depth: 3660.536957 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3609.059448 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.943633; longitude = -108.862505; duration = 424; initialDepth = 3608.736788; finalDepth = 3609.059448; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4775089999998 # Actual altitude: 51.4775089999998 # Commanded vehicle depth: 3609.059448 # Seafloor depth: -3660.536957 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 106.202231 meters # Minimum depth: 3658.736788 meters looking forward 100.000000 meters along route # Maximum depth: 3659.891672 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3608.736788 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.943311; longitude = -108.861522; duration = 424; initialDepth = 3610.454487; finalDepth = 3608.736788; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4775089999998 # Actual altitude: 51.4775089999998 # Commanded vehicle depth: 3608.736788 # Seafloor depth: -3659.035194 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.195388 meters # Minimum depth: 3660.454487 meters looking forward 100.000000 meters along route # Maximum depth: 3670.580393 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3610.454487 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.942989; longitude = -108.860539; duration = 400; initialDepth = 3621.071860; finalDepth = 3610.454487; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2984059999999 # Actual altitude: 50.2984059999999 # Commanded vehicle depth: 3610.454487 # Seafloor depth: -3660.454487 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 101.589650 meters # Minimum depth: 3671.071860 meters looking forward 100.000000 meters along route # Maximum depth: 3677.115829 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3621.071860 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.942686; longitude = -108.859612; duration = 406; initialDepth = 3627.640791; finalDepth = 3621.071860; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3621.07186 # Seafloor depth: -3671.071860 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.084862 meters # Minimum depth: 3677.640791 meters looking forward 100.000000 meters along route # Maximum depth: 3679.931404 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3627.640791 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.942378; longitude = -108.858672; duration = 428; initialDepth = 3629.931406; finalDepth = 3627.640791; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3627.640791 # Seafloor depth: -3677.640791 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 105.321574 meters # Minimum depth: 3679.931406 meters looking forward 100.000000 meters along route # Maximum depth: 3682.739403 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3629.931406 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.942054; longitude = -108.857682; duration = 421; initialDepth = 3632.987077; finalDepth = 3629.931406; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3629.931406 # Seafloor depth: -3679.931406 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 106.203654 meters # Minimum depth: 3682.987077 meters looking forward 100.000000 meters along route # Maximum depth: 3683.596463 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3632.987077 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.941735; longitude = -108.856707; duration = 424; initialDepth = 3633.683394; finalDepth = 3632.987077; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3632.987077 # Seafloor depth: -3682.987077 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 106.203945 meters # Minimum depth: 3683.683394 meters looking forward 100.000000 meters along route # Maximum depth: 3689.207008 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3633.683394 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.941413; longitude = -108.855725; duration = 424; initialDepth = 3639.803372; finalDepth = 3633.683394; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3633.683394 # Seafloor depth: -3683.683394 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 106.204236 meters # Minimum depth: 3689.803372 meters looking forward 100.000000 meters along route # Maximum depth: 3695.207336 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3639.803372 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.941092; longitude = -108.854742; duration = 424; initialDepth = 3644.648919; finalDepth = 3639.803372; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3639.803372 # Seafloor depth: -3689.803372 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 106.204526 meters # Minimum depth: 3694.648919 meters looking forward 100.000000 meters along route # Maximum depth: 3695.446345 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3644.648919 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.940770; longitude = -108.853759; duration = 424; initialDepth = 3644.832705; finalDepth = 3644.648919; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6898849999998 # Actual altitude: 50.6898849999998 # Commanded vehicle depth: 3644.648919 # Seafloor depth: -3695.338804 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 106.204818 meters # Minimum depth: 3694.832705 meters looking forward 100.000000 meters along route # Maximum depth: 3708.666692 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3644.832705 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.940448; longitude = -108.852777; duration = 424; initialDepth = 3659.208787; finalDepth = 3644.832705; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6898849999998 # Actual altitude: 50.6898849999998 # Commanded vehicle depth: 3644.832705 # Seafloor depth: -3694.832705 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 108.932523 meters # Minimum depth: 3709.208787 meters looking forward 100.000000 meters along route # Maximum depth: 3715.377852 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3659.208787 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.940127; longitude = -108.851794; duration = 435; initialDepth = 3645.149277; finalDepth = 3659.208787; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4519599999999 # Actual altitude: 51.4519599999999 # Commanded vehicle depth: 3659.208787 # Seafloor depth: -3710.660747 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 103.477984 meters # Minimum depth: 3695.149277 meters looking forward 100.000000 meters along route # Maximum depth: 3708.709350 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3645.149277 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.939797; longitude = -108.850786; duration = 413; initialDepth = 3644.450360; finalDepth = 3645.149277; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.5600730000001 # Actual altitude: 63.5600730000001 # Commanded vehicle depth: 3645.149277 # Seafloor depth: -3708.709350 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 106.205689 meters # Minimum depth: 3694.450360 meters looking forward 100.000000 meters along route # Maximum depth: 3696.223794 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3644.450360 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.939483; longitude = -108.849829; duration = 424; initialDepth = 3641.075686; finalDepth = 3644.450360; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.5600730000001 # Actual altitude: 63.5600730000001 # Commanded vehicle depth: 3644.45036 # Seafloor depth: -3694.687878 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 106.205981 meters # Minimum depth: 3691.075686 meters looking forward 100.000000 meters along route # Maximum depth: 3695.842158 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3641.075686 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.939162; longitude = -108.848846; duration = 424; initialDepth = 3637.271806; finalDepth = 3641.075686; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7664719999998 # Actual altitude: 54.7664719999998 # Commanded vehicle depth: 3641.075686 # Seafloor depth: -3695.842158 # 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 15 # Segment length 101.470755 meters # Minimum depth: 3687.271806 meters looking forward 100.000000 meters along route # Maximum depth: 3690.778717 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3637.271806 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.938840; longitude = -108.847864; duration = 405; initialDepth = 3637.299506; finalDepth = 3637.271806; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7664719999998 # Actual altitude: 54.7664719999998 # Commanded vehicle depth: 3637.271806 # Seafloor depth: -3690.778717 # 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 15 # Segment length 100.321409 meters # Minimum depth: 3687.299506 meters looking forward 100.000000 meters along route # Maximum depth: 3690.802887 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3637.299506 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.938533; longitude = -108.846925; duration = 401; initialDepth = 3641.282538; finalDepth = 3637.299506; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.5069109999999 # Actual altitude: 53.5069109999999 # Commanded vehicle depth: 3637.299506 # Seafloor depth: -3687.299506 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 108.360480 meters # Minimum depth: 3691.282538 meters looking forward 100.000000 meters along route # Maximum depth: 3693.654255 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3641.282538 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.938229; longitude = -108.845997; duration = 433; initialDepth = 3642.186425; finalDepth = 3641.282538; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3641.282538 # Seafloor depth: -3691.282538 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 104.053460 meters # Minimum depth: 3692.186425 meters looking forward 100.000000 meters along route # Maximum depth: 3693.691357 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3642.186425 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.937901; longitude = -108.844994; duration = 416; initialDepth = 3641.442140; finalDepth = 3642.186425; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4729350000002 # Actual altitude: 51.4729350000002 # Commanded vehicle depth: 3642.186425 # Seafloor depth: -3693.659360 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 106.207406 meters # Minimum depth: 3691.442140 meters looking forward 100.000000 meters along route # Maximum depth: 3692.829110 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3641.442140 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.937586; longitude = -108.844031; duration = 424; initialDepth = 3642.874625; finalDepth = 3641.442140; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4729350000002 # Actual altitude: 51.4729350000002 # Commanded vehicle depth: 3641.44214 # Seafloor depth: -3691.921026 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 106.207697 meters # Minimum depth: 3692.874625 meters looking forward 100.000000 meters along route # Maximum depth: 3702.808933 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3642.874625 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.937264; longitude = -108.843049; duration = 424; initialDepth = 3655.081436; finalDepth = 3642.874625; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4788859999999 # Actual altitude: 50.4788859999999 # Commanded vehicle depth: 3642.874625 # Seafloor depth: -3692.874625 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 106.207988 meters # Minimum depth: 3705.081436 meters looking forward 100.000000 meters along route # Maximum depth: 3725.440565 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3655.081436 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.936942; longitude = -108.842066; duration = 424; initialDepth = 3671.373529; finalDepth = 3655.081436; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3655.081436 # Seafloor depth: -3705.081436 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 106.208279 meters # Minimum depth: 3721.373529 meters looking forward 100.000000 meters along route # Maximum depth: 3726.939319 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3671.373529 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.936621; longitude = -108.841083; duration = 424; initialDepth = 3656.049965; finalDepth = 3671.373529; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.570193 # Actual altitude: 54.570193 # Commanded vehicle depth: 3671.373529 # Seafloor depth: -3725.943722 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 106.208571 meters # Minimum depth: 3706.049965 meters looking forward 100.000000 meters along route # Maximum depth: 3719.877150 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3656.049965 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.936299; longitude = -108.840101; duration = 424; initialDepth = 3655.260821; finalDepth = 3656.049965; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.8271849999996 # Actual altitude: 63.8271849999996 # Commanded vehicle depth: 3656.049965 # Seafloor depth: -3719.877150 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 110.208232 meters # Minimum depth: 3705.260821 meters looking forward 100.000000 meters along route # Maximum depth: 3709.342921 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3655.260821 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.935977; longitude = -108.839118; duration = 440; initialDepth = 3656.463844; finalDepth = 3655.260821; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.8271849999996 # Actual altitude: 63.8271849999996 # Commanded vehicle depth: 3655.260821 # Seafloor depth: -3705.575414 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 102.209782 meters # Minimum depth: 3706.463844 meters looking forward 100.000000 meters along route # Maximum depth: 3709.873659 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3656.463844 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.935644; longitude = -108.838099; duration = 408; initialDepth = 3648.984175; finalDepth = 3656.463844; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0207290000003 # Actual altitude: 53.0207290000003 # Commanded vehicle depth: 3656.463844 # Seafloor depth: -3709.484573 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 106.477244 meters # Minimum depth: 3698.984175 meters looking forward 100.000000 meters along route # Maximum depth: 3705.874314 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3648.984175 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.935334; longitude = -108.837153; duration = 425; initialDepth = 3640.257448; finalDepth = 3648.984175; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.8901390000001 # Actual altitude: 56.8901390000001 # Commanded vehicle depth: 3648.984175 # Seafloor depth: -3705.874314 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 109.474190 meters # Minimum depth: 3690.257448 meters looking forward 100.000000 meters along route # Maximum depth: 3698.964709 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3640.257448 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.935012; longitude = -108.836168; duration = 437; initialDepth = 3639.944824; finalDepth = 3640.257448; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 58.707261 # Actual altitude: 58.707261 # Commanded vehicle depth: 3640.257448 # Seafloor depth: -3698.964709 # 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; } # ####################################################### # # 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 158.212983 meters # Minimum depth: 3689.944824 meters looking forward 100.000000 meters along route # Maximum depth: 3698.174893 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3639.944824 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.934680; longitude = -108.835155; duration = 632; # abortOnTimeout = True; initialDepth = 3648.540800; finalDepth = 3639.944824; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 58.707261 # Actual altitude: 58.707261 # Commanded vehicle depth: 3639.944824 # Seafloor depth: -3689.944824 # 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; } # ####################################################### # # 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 120.068710 meters # Minimum depth: 3698.540800 meters looking forward 100.000000 meters along route # Maximum depth: 3701.873742 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3648.540800 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.936035; longitude = -108.834664; duration = 480; # abortOnTimeout = True; initialDepth = 3652.530325; finalDepth = 3648.540800; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3790609999996 # Actual altitude: 50.3790609999996 # Commanded vehicle depth: 3648.5408 # Seafloor depth: -3698.919861 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 105.979521 meters # Minimum depth: 3702.530325 meters looking forward 100.000000 meters along route # Maximum depth: 3711.497030 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3652.530325 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.936392; longitude = -108.835777; duration = 423; initialDepth = 3662.610639; finalDepth = 3652.530325; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3790609999996 # Actual altitude: 50.3790609999996 # Commanded vehicle depth: 3652.530325 # Seafloor depth: -3702.530325 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 105.979233 meters # Minimum depth: 3712.610639 meters looking forward 100.000000 meters along route # Maximum depth: 3721.351352 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3662.610639 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.936708; longitude = -108.836760; duration = 423; initialDepth = 3669.552435; finalDepth = 3662.610639; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3662.610639 # Seafloor depth: -3712.610639 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 105.978947 meters # Minimum depth: 3719.552435 meters looking forward 100.000000 meters along route # Maximum depth: 3721.802695 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3669.552435 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.937023; longitude = -108.837743; duration = 423; initialDepth = 3669.308884; finalDepth = 3669.552435; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0647269999999 # Actual altitude: 52.0647269999999 # Commanded vehicle depth: 3669.552435 # Seafloor depth: -3721.617162 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 105.978659 meters # Minimum depth: 3719.308884 meters looking forward 100.000000 meters along route # Maximum depth: 3722.057452 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3669.308884 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.937339; longitude = -108.838725; duration = 423; initialDepth = 3672.376714; finalDepth = 3669.308884; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0647269999999 # Actual altitude: 52.0647269999999 # Commanded vehicle depth: 3669.308884 # Seafloor depth: -3719.329671 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 105.978373 meters # Minimum depth: 3722.376714 meters looking forward 100.000000 meters along route # Maximum depth: 3729.657364 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3672.376714 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.937654; longitude = -108.839708; duration = 423; initialDepth = 3672.047017; finalDepth = 3672.376714; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0207869999999 # Actual altitude: 50.0207869999999 # Commanded vehicle depth: 3672.376714 # Seafloor depth: -3722.376714 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 105.978085 meters # Minimum depth: 3722.047017 meters looking forward 100.000000 meters along route # Maximum depth: 3731.651063 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3672.047017 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.937970; longitude = -108.840690; duration = 423; initialDepth = 3659.304397; finalDepth = 3672.047017; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.465404 # Actual altitude: 58.465404 # Commanded vehicle depth: 3672.047017 # Seafloor depth: -3730.512421 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 105.977799 meters # Minimum depth: 3709.304397 meters looking forward 100.000000 meters along route # Maximum depth: 3720.280839 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3659.304397 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.938285; longitude = -108.841673; duration = 423; initialDepth = 3643.211726; finalDepth = 3659.304397; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.9764420000001 # Actual altitude: 60.9764420000001 # Commanded vehicle depth: 3659.304397 # Seafloor depth: -3720.280839 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 105.977511 meters # Minimum depth: 3693.211726 meters looking forward 100.000000 meters along route # Maximum depth: 3708.478102 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3643.211726 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.938600; longitude = -108.842656; duration = 423; initialDepth = 3641.978763; finalDepth = 3643.211726; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.266376 # Actual altitude: 65.266376 # Commanded vehicle depth: 3643.211726 # Seafloor depth: -3708.478102 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 105.977225 meters # Minimum depth: 3691.978763 meters looking forward 100.000000 meters along route # Maximum depth: 3695.951746 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3641.978763 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.938916; longitude = -108.843638; duration = 423; initialDepth = 3647.022050; finalDepth = 3641.978763; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.266376 # Actual altitude: 65.266376 # Commanded vehicle depth: 3641.978763 # Seafloor depth: -3692.702234 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 105.976938 meters # Minimum depth: 3697.022050 meters looking forward 100.000000 meters along route # Maximum depth: 3708.764399 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3647.022050 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.939231; longitude = -108.844621; duration = 423; initialDepth = 3659.230758; finalDepth = 3647.022050; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7234709999998 # Actual altitude: 50.7234709999998 # Commanded vehicle depth: 3647.02205 # Seafloor depth: -3697.022050 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 105.976651 meters # Minimum depth: 3709.230758 meters looking forward 100.000000 meters along route # Maximum depth: 3710.879986 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3659.230758 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.939547; longitude = -108.845604; duration = 423; initialDepth = 3661.125543; finalDepth = 3659.230758; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3659.230758 # Seafloor depth: -3709.230758 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 105.976364 meters # Minimum depth: 3711.125543 meters looking forward 100.000000 meters along route # Maximum depth: 3714.495650 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3661.125543 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.939862; longitude = -108.846586; duration = 423; initialDepth = 3664.638664; finalDepth = 3661.125543; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3661.125543 # Seafloor depth: -3711.125543 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 105.976078 meters # Minimum depth: 3714.638664 meters looking forward 100.000000 meters along route # Maximum depth: 3718.620325 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3664.638664 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.940178; longitude = -108.847569; duration = 423; initialDepth = 3669.151251; finalDepth = 3664.638664; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3664.638664 # Seafloor depth: -3714.638664 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 105.975790 meters # Minimum depth: 3719.151251 meters looking forward 100.000000 meters along route # Maximum depth: 3720.131638 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3669.151251 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.940493; longitude = -108.848551; duration = 423; initialDepth = 3670.272535; finalDepth = 3669.151251; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3669.151251 # Seafloor depth: -3719.151251 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 105.975504 meters # Minimum depth: 3720.272535 meters looking forward 100.000000 meters along route # Maximum depth: 3723.427901 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3670.272535 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.940809; longitude = -108.849534; duration = 423; initialDepth = 3665.141998; finalDepth = 3670.272535; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3670.272535 # Seafloor depth: -3720.272535 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 105.975218 meters # Minimum depth: 3715.141998 meters looking forward 100.000000 meters along route # Maximum depth: 3723.114560 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3665.141998 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.941124; longitude = -108.850517; duration = 423; initialDepth = 3651.041292; finalDepth = 3665.141998; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.9725619999999 # Actual altitude: 57.9725619999999 # Commanded vehicle depth: 3665.141998 # Seafloor depth: -3723.114560 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 105.974930 meters # Minimum depth: 3701.041292 meters looking forward 100.000000 meters along route # Maximum depth: 3714.411802 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3651.041292 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.941439; longitude = -108.851499; duration = 423; initialDepth = 3649.634115; finalDepth = 3651.041292; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.3705100000002 # Actual altitude: 63.3705100000002 # Commanded vehicle depth: 3651.041292 # Seafloor depth: -3714.411802 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 105.974644 meters # Minimum depth: 3699.634115 meters looking forward 100.000000 meters along route # Maximum depth: 3700.547438 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3649.634115 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.941755; longitude = -108.852482; duration = 423; initialDepth = 3646.108376; finalDepth = 3649.634115; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.3705100000002 # Actual altitude: 63.3705100000002 # Commanded vehicle depth: 3649.634115 # Seafloor depth: -3700.306377 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 105.974357 meters # Minimum depth: 3696.108376 meters looking forward 100.000000 meters along route # Maximum depth: 3700.324501 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3646.108376 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.942070; longitude = -108.853465; duration = 423; initialDepth = 3643.123980; finalDepth = 3646.108376; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.2161249999999 # Actual altitude: 54.2161249999999 # Commanded vehicle depth: 3646.108376 # Seafloor depth: -3700.324501 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 105.974071 meters # Minimum depth: 3693.123980 meters looking forward 100.000000 meters along route # Maximum depth: 3695.882526 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3643.123980 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.942386; longitude = -108.854447; duration = 423; initialDepth = 3641.495445; finalDepth = 3643.123980; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.2161249999999 # Actual altitude: 54.2161249999999 # Commanded vehicle depth: 3643.12398 # Seafloor depth: -3695.882526 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 105.973784 meters # Minimum depth: 3691.495445 meters looking forward 100.000000 meters along route # Maximum depth: 3692.909172 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3641.495445 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.942701; longitude = -108.855430; duration = 423; initialDepth = 3640.551748; finalDepth = 3641.495445; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.758546 # Actual altitude: 52.758546 # Commanded vehicle depth: 3641.495445 # Seafloor depth: -3692.909172 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 105.973497 meters # Minimum depth: 3690.551748 meters looking forward 100.000000 meters along route # Maximum depth: 3692.810338 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3640.551748 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.943017; longitude = -108.856412; duration = 423; initialDepth = 3633.599780; finalDepth = 3640.551748; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6348510000003 # Actual altitude: 51.6348510000003 # Commanded vehicle depth: 3640.551748 # Seafloor depth: -3692.186599 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 105.973211 meters # Minimum depth: 3683.599780 meters looking forward 100.000000 meters along route # Maximum depth: 3690.226587 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3633.599780 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.943332; longitude = -108.857395; duration = 423; initialDepth = 3622.244008; finalDepth = 3633.599780; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.6268070000001 # Actual altitude: 56.6268070000001 # Commanded vehicle depth: 3633.59978 # Seafloor depth: -3690.226587 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 105.972925 meters # Minimum depth: 3672.244008 meters looking forward 100.000000 meters along route # Maximum depth: 3682.641441 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3622.244008 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.943648; longitude = -108.858378; duration = 423; initialDepth = 3615.661211; finalDepth = 3622.244008; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.3974330000001 # Actual altitude: 60.3974330000001 # Commanded vehicle depth: 3622.244008 # Seafloor depth: -3682.641441 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 105.972638 meters # Minimum depth: 3665.661211 meters looking forward 100.000000 meters along route # Maximum depth: 3671.795440 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3615.661211 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.943963; longitude = -108.859360; duration = 423; initialDepth = 3615.729865; finalDepth = 3615.661211; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.3974330000001 # Actual altitude: 60.3974330000001 # Commanded vehicle depth: 3615.661211 # Seafloor depth: -3671.795440 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 105.972351 meters # Minimum depth: 3665.729865 meters looking forward 100.000000 meters along route # Maximum depth: 3668.617518 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3615.729865 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.944278; longitude = -108.860343; duration = 423; initialDepth = 3617.616750; finalDepth = 3615.729865; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.1342289999998 # Actual altitude: 56.1342289999998 # Commanded vehicle depth: 3615.729865 # Seafloor depth: -3665.729865 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 105.972065 meters # Minimum depth: 3667.616750 meters looking forward 100.000000 meters along route # Maximum depth: 3668.639097 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3617.616750 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.944594; longitude = -108.861326; duration = 423; initialDepth = 3611.611356; finalDepth = 3617.616750; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.001671 # Actual altitude: 51.001671 # Commanded vehicle depth: 3617.61675 # Seafloor depth: -3668.618421 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 105.971778 meters # Minimum depth: 3661.611356 meters looking forward 100.000000 meters along route # Maximum depth: 3667.502342 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3611.611356 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.944909; longitude = -108.862308; duration = 423; initialDepth = 3607.446342; finalDepth = 3611.611356; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.8909860000003 # Actual altitude: 55.8909860000003 # Commanded vehicle depth: 3611.611356 # Seafloor depth: -3667.502342 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.95; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 105.971493 meters # Minimum depth: 3657.446342 meters looking forward 100.000000 meters along route # Maximum depth: 3661.338491 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3607.446342 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.945225; longitude = -108.863291; duration = 423; initialDepth = 3597.714860; finalDepth = 3607.446342; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.8909860000003 # Actual altitude: 55.8909860000003 # Commanded vehicle depth: 3607.446342 # Seafloor depth: -3661.338491 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.95; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 105.971205 meters # Minimum depth: 3647.714860 meters looking forward 100.000000 meters along route # Maximum depth: 3657.048330 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3597.714860 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.945540; longitude = -108.864273; duration = 423; initialDepth = 3591.635559; finalDepth = 3597.714860; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.33347 # Actual altitude: 59.33347 # Commanded vehicle depth: 3597.71486 # Seafloor depth: -3657.048330 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 105.970920 meters # Minimum depth: 3641.635559 meters looking forward 100.000000 meters along route # Maximum depth: 3647.350880 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3591.635559 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.945856; longitude = -108.865256; duration = 423; initialDepth = 3586.781395; finalDepth = 3591.635559; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.33347 # Actual altitude: 59.33347 # Commanded vehicle depth: 3591.635559 # Seafloor depth: -3647.350880 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 105.970633 meters # Minimum depth: 3636.781395 meters looking forward 100.000000 meters along route # Maximum depth: 3641.308416 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3586.781395 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.946171; longitude = -108.866239; duration = 423; initialDepth = 3585.787021; finalDepth = 3586.781395; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.7153210000001 # Actual altitude: 55.7153210000001 # Commanded vehicle depth: 3586.781395 # Seafloor depth: -3641.308416 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 105.970347 meters # Minimum depth: 3635.787021 meters looking forward 100.000000 meters along route # Maximum depth: 3636.659660 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3585.787021 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.946487; longitude = -108.867221; duration = 423; initialDepth = 3581.802544; finalDepth = 3585.787021; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5270209999999 # Actual altitude: 54.5270209999999 # Commanded vehicle depth: 3585.787021 # Seafloor depth: -3636.659660 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 105.970060 meters # Minimum depth: 3631.802544 meters looking forward 100.000000 meters along route # Maximum depth: 3635.486321 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3581.802544 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.946802; longitude = -108.868204; duration = 423; initialDepth = 3576.655563; finalDepth = 3581.802544; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6837769999997 # Actual altitude: 53.6837769999997 # Commanded vehicle depth: 3581.802544 # Seafloor depth: -3635.486321 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 105.969774 meters # Minimum depth: 3626.655563 meters looking forward 100.000000 meters along route # Maximum depth: 3631.771957 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3576.655563 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.947117; longitude = -108.869187; duration = 423; initialDepth = 3560.955648; finalDepth = 3576.655563; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.1163940000001 # Actual altitude: 55.1163940000001 # Commanded vehicle depth: 3576.655563 # Seafloor depth: -3631.771957 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 105.969488 meters # Minimum depth: 3610.955648 meters looking forward 100.000000 meters along route # Maximum depth: 3625.015677 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3560.955648 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.947433; longitude = -108.870169; duration = 423; initialDepth = 3554.333487; finalDepth = 3560.955648; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.0600289999998 # Actual altitude: 64.0600289999998 # Commanded vehicle depth: 3560.955648 # Seafloor depth: -3625.015677 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 105.969202 meters # Minimum depth: 3604.333487 meters looking forward 100.000000 meters along route # Maximum depth: 3610.777237 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3554.333487 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.947748; longitude = -108.871152; duration = 423; initialDepth = 3544.367175; finalDepth = 3554.333487; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.0600289999998 # Actual altitude: 64.0600289999998 # Commanded vehicle depth: 3554.333487 # Seafloor depth: -3610.777237 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 105.968916 meters # Minimum depth: 3594.367175 meters looking forward 100.000000 meters along route # Maximum depth: 3603.536544 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3544.367175 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.948064; longitude = -108.872134; duration = 423; initialDepth = 3533.926021; finalDepth = 3544.367175; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.1693690000002 # Actual altitude: 59.1693690000002 # Commanded vehicle depth: 3544.367175 # Seafloor depth: -3603.536544 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 109.459557 meters # Minimum depth: 3583.926021 meters looking forward 100.000000 meters along route # Maximum depth: 3594.214176 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3533.926021 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.948379; longitude = -108.873117; duration = 437; initialDepth = 3523.666413; finalDepth = 3533.926021; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 60.2881549999997 # Actual altitude: 60.2881549999997 # Commanded vehicle depth: 3533.926021 # Seafloor depth: -3594.214176 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 170.341484 meters # Minimum depth: 3573.666413 meters looking forward 100.000000 meters along route # Maximum depth: 3583.327209 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3523.666413 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.948705; longitude = -108.874132; duration = 681; # abortOnTimeout = True; initialDepth = 3523.564636; finalDepth = 3523.666413; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 60.2881549999997 # Actual altitude: 60.2881549999997 # Commanded vehicle depth: 3523.666413 # Seafloor depth: -3583.327209 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 173.152439 meters # Minimum depth: 3573.564636 meters looking forward 100.000000 meters along route # Maximum depth: 3606.753251 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3523.564636 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.950240; longitude = -108.874231; duration = 692; # abortOnTimeout = True; initialDepth = 3557.040128; finalDepth = 3523.564636; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.6607960000001 # Actual altitude: 59.6607960000001 # Commanded vehicle depth: 3523.564636 # Seafloor depth: -3573.564636 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 105.988695 meters # Minimum depth: 3607.040128 meters looking forward 100.000000 meters along route # Maximum depth: 3616.839252 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3557.040128 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.949724; longitude = -108.872626; duration = 423; initialDepth = 3567.827157; finalDepth = 3557.040128; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3557.040128 # Seafloor depth: -3607.040128 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 105.988982 meters # Minimum depth: 3617.827157 meters looking forward 100.000000 meters along route # Maximum depth: 3625.968822 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3567.827157 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.949408; longitude = -108.871643; duration = 423; initialDepth = 3576.056522; finalDepth = 3567.827157; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3567.827157 # Seafloor depth: -3617.827157 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 105.989268 meters # Minimum depth: 3626.056522 meters looking forward 100.000000 meters along route # Maximum depth: 3634.517657 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3576.056522 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.949092; longitude = -108.870660; duration = 423; initialDepth = 3583.767762; finalDepth = 3576.056522; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3576.056522 # Seafloor depth: -3626.056522 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 105.989555 meters # Minimum depth: 3633.767762 meters looking forward 100.000000 meters along route # Maximum depth: 3636.978962 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3583.767762 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.948776; longitude = -108.869678; duration = 423; initialDepth = 3578.368351; finalDepth = 3583.767762; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.70829 # Actual altitude: 51.70829 # Commanded vehicle depth: 3583.767762 # Seafloor depth: -3635.476052 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 105.989842 meters # Minimum depth: 3628.368351 meters looking forward 100.000000 meters along route # Maximum depth: 3633.670516 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3578.368351 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.948460; longitude = -108.868695; duration = 423; initialDepth = 3578.329846; finalDepth = 3578.368351; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.3021650000001 # Actual altitude: 55.3021650000001 # Commanded vehicle depth: 3578.368351 # Seafloor depth: -3633.670516 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 105.990129 meters # Minimum depth: 3628.329846 meters looking forward 100.000000 meters along route # Maximum depth: 3634.176885 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3578.329846 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.948144; longitude = -108.867713; duration = 423; initialDepth = 3584.297741; finalDepth = 3578.329846; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.3021650000001 # Actual altitude: 55.3021650000001 # Commanded vehicle depth: 3578.329846 # Seafloor depth: -3628.329846 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 105.990415 meters # Minimum depth: 3634.297741 meters looking forward 100.000000 meters along route # Maximum depth: 3641.599029 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3584.297741 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.947828; longitude = -108.866730; duration = 423; initialDepth = 3592.221695; finalDepth = 3584.297741; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3584.297741 # Seafloor depth: -3634.297741 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 105.990702 meters # Minimum depth: 3642.221695 meters looking forward 100.000000 meters along route # Maximum depth: 3647.059971 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3592.221695 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.947512; longitude = -108.865747; duration = 423; initialDepth = 3597.195280; finalDepth = 3592.221695; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3592.221695 # Seafloor depth: -3642.221695 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 105.990988 meters # Minimum depth: 3647.195280 meters looking forward 100.000000 meters along route # Maximum depth: 3658.037236 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3597.195280 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.947196; longitude = -108.864765; duration = 423; initialDepth = 3609.192492; finalDepth = 3597.195280; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3597.19528 # Seafloor depth: -3647.195280 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 105.991276 meters # Minimum depth: 3659.192492 meters looking forward 100.000000 meters along route # Maximum depth: 3667.104013 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3609.192492 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.946880; longitude = -108.863782; duration = 423; initialDepth = 3617.220467; finalDepth = 3609.192492; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3609.192492 # Seafloor depth: -3659.192492 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 105.991562 meters # Minimum depth: 3667.220467 meters looking forward 100.000000 meters along route # Maximum depth: 3675.123711 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3617.220467 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.946564; longitude = -108.862799; duration = 423; initialDepth = 3625.765509; finalDepth = 3617.220467; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3617.220467 # Seafloor depth: -3667.220467 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 105.991849 meters # Minimum depth: 3675.765509 meters looking forward 100.000000 meters along route # Maximum depth: 3680.818550 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3625.765509 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.946248; longitude = -108.861817; duration = 423; initialDepth = 3629.812959; finalDepth = 3625.765509; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3625.765509 # Seafloor depth: -3675.765509 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 105.992136 meters # Minimum depth: 3679.812959 meters looking forward 100.000000 meters along route # Maximum depth: 3681.981464 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3629.812959 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.945932; longitude = -108.860834; duration = 423; initialDepth = 3627.576815; finalDepth = 3629.812959; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0773670000003 # Actual altitude: 51.0773670000003 # Commanded vehicle depth: 3629.812959 # Seafloor depth: -3680.890326 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 105.992423 meters # Minimum depth: 3677.576815 meters looking forward 100.000000 meters along route # Maximum depth: 3680.557044 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3627.576815 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.945616; longitude = -108.859852; duration = 423; initialDepth = 3630.670690; finalDepth = 3627.576815; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5830220000003 # Actual altitude: 51.5830220000003 # Commanded vehicle depth: 3627.576815 # Seafloor depth: -3679.159837 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 105.992710 meters # Minimum depth: 3680.670690 meters looking forward 100.000000 meters along route # Maximum depth: 3685.592166 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3630.670690 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.945300; longitude = -108.858869; duration = 423; initialDepth = 3636.150558; finalDepth = 3630.670690; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5830220000003 # Actual altitude: 51.5830220000003 # Commanded vehicle depth: 3630.67069 # Seafloor depth: -3680.670690 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 105.992996 meters # Minimum depth: 3686.150558 meters looking forward 100.000000 meters along route # Maximum depth: 3696.471011 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3636.150558 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.944984; longitude = -108.857886; duration = 423; initialDepth = 3646.639144; finalDepth = 3636.150558; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3636.150558 # Seafloor depth: -3686.150558 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 105.993284 meters # Minimum depth: 3696.639144 meters looking forward 100.000000 meters along route # Maximum depth: 3702.440200 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3646.639144 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.944668; longitude = -108.856904; duration = 423; initialDepth = 3652.664762; finalDepth = 3646.639144; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3646.639144 # Seafloor depth: -3696.639144 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 105.993570 meters # Minimum depth: 3702.664762 meters looking forward 100.000000 meters along route # Maximum depth: 3704.741878 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3652.664762 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.944352; longitude = -108.855921; duration = 423; initialDepth = 3654.801374; finalDepth = 3652.664762; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3652.664762 # Seafloor depth: -3702.664762 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 105.993858 meters # Minimum depth: 3704.801374 meters looking forward 100.000000 meters along route # Maximum depth: 3708.598793 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3654.801374 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.944036; longitude = -108.854938; duration = 423; initialDepth = 3649.433634; finalDepth = 3654.801374; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3654.801374 # Seafloor depth: -3704.801374 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 105.994144 meters # Minimum depth: 3699.433634 meters looking forward 100.000000 meters along route # Maximum depth: 3708.619926 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3649.433634 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.943720; longitude = -108.853956; duration = 423; initialDepth = 3635.441614; finalDepth = 3649.433634; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.1862919999999 # Actual altitude: 59.1862919999999 # Commanded vehicle depth: 3649.433634 # Seafloor depth: -3708.619926 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 105.994432 meters # Minimum depth: 3685.441614 meters looking forward 100.000000 meters along route # Maximum depth: 3699.199418 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3635.441614 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.943404; longitude = -108.852973; duration = 423; initialDepth = 3634.187665; finalDepth = 3635.441614; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.7578040000003 # Actual altitude: 63.7578040000003 # Commanded vehicle depth: 3635.441614 # Seafloor depth: -3699.199418 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 105.994719 meters # Minimum depth: 3684.187665 meters looking forward 100.000000 meters along route # Maximum depth: 3697.311137 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3634.187665 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.943088; longitude = -108.851991; duration = 423; initialDepth = 3647.777252; finalDepth = 3634.187665; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.7578040000003 # Actual altitude: 63.7578040000003 # Commanded vehicle depth: 3634.187665 # Seafloor depth: -3684.728355 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 105.995005 meters # Minimum depth: 3697.777252 meters looking forward 100.000000 meters along route # Maximum depth: 3726.481445 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3647.777252 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.942772; longitude = -108.851008; duration = 423; initialDepth = 3676.178527; finalDepth = 3647.777252; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5406900000003 # Actual altitude: 50.5406900000003 # Commanded vehicle depth: 3647.777252 # Seafloor depth: -3697.777252 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 105.995293 meters # Minimum depth: 3728.377392 meters looking forward 100.000000 meters along route # Maximum depth: 3732.648386 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3676.178527 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.942456; longitude = -108.850025; duration = 423; initialDepth = 3678.949017; finalDepth = 3676.178527; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1988645158567 # Actual altitude: 52.1988645158567 # Commanded vehicle depth: 3676.17852748414 # Seafloor depth: -3728.377392 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 105.995580 meters # Minimum depth: 3728.949017 meters looking forward 100.000000 meters along route # Maximum depth: 3731.626338 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3678.949017 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.942140; longitude = -108.849043; duration = 423; initialDepth = 3678.321296; finalDepth = 3678.949017; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6773210000001 # Actual altitude: 52.6773210000001 # Commanded vehicle depth: 3678.949017 # Seafloor depth: -3731.626338 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 105.995867 meters # Minimum depth: 3728.321296 meters looking forward 100.000000 meters along route # Maximum depth: 3730.589108 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3678.321296 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.941824; longitude = -108.848060; duration = 423; initialDepth = 3680.693962; finalDepth = 3678.321296; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6773210000001 # Actual altitude: 52.6773210000001 # Commanded vehicle depth: 3678.321296 # Seafloor depth: -3728.706366 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 105.996155 meters # Minimum depth: 3730.693962 meters looking forward 100.000000 meters along route # Maximum depth: 3738.958439 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3680.693962 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.941508; longitude = -108.847077; duration = 423; initialDepth = 3669.643202; finalDepth = 3680.693962; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3850699999998 # Actual altitude: 50.3850699999998 # Commanded vehicle depth: 3680.693962 # Seafloor depth: -3730.693962 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 105.996441 meters # Minimum depth: 3719.643202 meters looking forward 100.000000 meters along route # Maximum depth: 3738.824053 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3669.643202 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.941191; longitude = -108.846095; duration = 423; initialDepth = 3656.533968; finalDepth = 3669.643202; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.1808509999996 # Actual altitude: 69.1808509999996 # Commanded vehicle depth: 3669.643202 # Seafloor depth: -3738.824053 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 105.996729 meters # Minimum depth: 3706.533968 meters looking forward 100.000000 meters along route # Maximum depth: 3719.301811 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3656.533968 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.940875; longitude = -108.845112; duration = 423; initialDepth = 3656.085761; finalDepth = 3656.533968; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.1808509999996 # Actual altitude: 69.1808509999996 # Commanded vehicle depth: 3656.533968 # Seafloor depth: -3719.301811 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 105.997016 meters # Minimum depth: 3706.085761 meters looking forward 100.000000 meters along route # Maximum depth: 3710.556268 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3656.085761 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.940559; longitude = -108.844130; duration = 423; initialDepth = 3660.671415; finalDepth = 3656.085761; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.7678429999996 # Actual altitude: 62.7678429999996 # Commanded vehicle depth: 3656.085761 # Seafloor depth: -3706.216684 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 105.997304 meters # Minimum depth: 3710.671415 meters looking forward 100.000000 meters along route # Maximum depth: 3714.756256 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3660.671415 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.940243; longitude = -108.843147; duration = 423; initialDepth = 3664.935411; finalDepth = 3660.671415; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1309230000002 # Actual altitude: 50.1309230000002 # Commanded vehicle depth: 3660.671415 # Seafloor depth: -3710.671415 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 105.997590 meters # Minimum depth: 3714.935411 meters looking forward 100.000000 meters along route # Maximum depth: 3724.552222 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3664.935411 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.939927; longitude = -108.842164; duration = 423; initialDepth = 3674.838414; finalDepth = 3664.935411; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3664.935411 # Seafloor depth: -3714.935411 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 105.997878 meters # Minimum depth: 3724.838414 meters looking forward 100.000000 meters along route # Maximum depth: 3739.069473 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3674.838414 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.939611; longitude = -108.841182; duration = 423; initialDepth = 3686.646602; finalDepth = 3674.838414; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3674.838414 # Seafloor depth: -3724.838414 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 105.998166 meters # Minimum depth: 3736.646602 meters looking forward 100.000000 meters along route # Maximum depth: 3739.795500 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3686.646602 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.939295; longitude = -108.840199; duration = 423; initialDepth = 3679.962268; finalDepth = 3686.646602; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9268390000002 # Actual altitude: 52.9268390000002 # Commanded vehicle depth: 3686.646602 # Seafloor depth: -3739.573441 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 105.998453 meters # Minimum depth: 3729.962268 meters looking forward 100.000000 meters along route # Maximum depth: 3736.555471 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3679.962268 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.938979; longitude = -108.839216; duration = 423; initialDepth = 3675.197511; finalDepth = 3679.962268; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.5932029999999 # Actual altitude: 56.5932029999999 # Commanded vehicle depth: 3679.962268 # Seafloor depth: -3736.555471 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 105.998740 meters # Minimum depth: 3725.197511 meters looking forward 100.000000 meters along route # Maximum depth: 3729.424766 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3675.197511 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.938663; longitude = -108.838234; duration = 423; initialDepth = 3669.386512; finalDepth = 3675.197511; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.5932029999999 # Actual altitude: 56.5932029999999 # Commanded vehicle depth: 3675.197511 # Seafloor depth: -3729.424766 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 105.999027 meters # Minimum depth: 3719.386512 meters looking forward 100.000000 meters along route # Maximum depth: 3725.166234 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3669.386512 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.938347; longitude = -108.837251; duration = 423; initialDepth = 3660.476759; finalDepth = 3669.386512; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.7797219999998 # Actual altitude: 55.7797219999998 # Commanded vehicle depth: 3669.386512 # Seafloor depth: -3725.166234 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 105.999315 meters # Minimum depth: 3710.476759 meters looking forward 100.000000 meters along route # Maximum depth: 3718.079226 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3660.476759 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.938031; longitude = -108.836269; duration = 423; initialDepth = 3659.678801; finalDepth = 3660.476759; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.6024669999997 # Actual altitude: 57.6024669999997 # Commanded vehicle depth: 3660.476759 # Seafloor depth: -3718.079226 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 109.485766 meters # Minimum depth: 3709.678801 meters looking forward 100.000000 meters along route # Maximum depth: 3711.649057 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3659.678801 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.937715; longitude = -108.835286; duration = 437; initialDepth = 3662.021912; finalDepth = 3659.678801; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 57.6024669999997 # Actual altitude: 57.6024669999997 # Commanded vehicle depth: 3659.678801 # Seafloor depth: -3710.419678 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.80; 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 149.767464 meters # Minimum depth: 3712.021912 meters looking forward 100.000000 meters along route # Maximum depth: 3721.360138 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3662.021912 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.937389; longitude = -108.834271; duration = 599; # abortOnTimeout = True; initialDepth = 3671.535278; finalDepth = 3662.021912; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.7408770000002 # Actual altitude: 50.7408770000002 # Commanded vehicle depth: 3662.021912 # Seafloor depth: -3712.021912 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.37; 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 113.052526 meters # Minimum depth: 3721.535278 meters looking forward 100.000000 meters along route # Maximum depth: 3728.522517 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3671.535278 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.938683; longitude = -108.833845; duration = 452; # abortOnTimeout = True; initialDepth = 3679.106490; finalDepth = 3671.535278; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3671.535278 # Seafloor depth: -3721.535278 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 108.896032 meters # Minimum depth: 3729.106490 meters looking forward 100.000000 meters along route # Maximum depth: 3732.632997 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3679.106490 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.939020; longitude = -108.834893; duration = 435; initialDepth = 3682.648566; finalDepth = 3679.106490; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3679.10649 # Seafloor depth: -3729.106490 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 103.125395 meters # Minimum depth: 3732.648566 meters looking forward 100.000000 meters along route # Maximum depth: 3735.674930 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3682.648566 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.939345; longitude = -108.835902; duration = 412; initialDepth = 3686.492656; finalDepth = 3682.648566; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3682.648566 # Seafloor depth: -3732.648566 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 108.664392 meters # Minimum depth: 3736.492656 meters looking forward 100.000000 meters along route # Maximum depth: 3739.575841 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3686.492656 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.939653; longitude = -108.836858; duration = 434; initialDepth = 3688.318428; finalDepth = 3686.492656; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3686.492656 # Seafloor depth: -3736.492656 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 103.355885 meters # Minimum depth: 3738.318428 meters looking forward 100.000000 meters along route # Maximum depth: 3741.861010 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3688.318428 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.939977; longitude = -108.837865; duration = 413; initialDepth = 3692.758946; finalDepth = 3688.318428; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.31666 # Actual altitude: 50.31666 # Commanded vehicle depth: 3688.318428 # Seafloor depth: -3738.635088 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 108.432754 meters # Minimum depth: 3742.758946 meters looking forward 100.000000 meters along route # Maximum depth: 3748.689588 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3692.758946 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.940286; longitude = -108.838823; duration = 433; initialDepth = 3684.026990; finalDepth = 3692.758946; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.31666 # Actual altitude: 50.31666 # Commanded vehicle depth: 3692.758946 # Seafloor depth: -3742.758946 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 103.586372 meters # Minimum depth: 3734.026990 meters looking forward 100.000000 meters along route # Maximum depth: 3748.640452 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3684.026990 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.940609; longitude = -108.839828; duration = 414; initialDepth = 3661.351541; finalDepth = 3684.026990; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.6134620000003 # Actual altitude: 64.6134620000003 # Commanded vehicle depth: 3684.02699 # Seafloor depth: -3748.640452 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 108.201119 meters # Minimum depth: 3711.351541 meters looking forward 100.000000 meters along route # Maximum depth: 3730.454427 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3661.351541 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.940918; longitude = -108.840789; duration = 432; initialDepth = 3661.616883; finalDepth = 3661.351541; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.1028860000001 # Actual altitude: 69.1028860000001 # Commanded vehicle depth: 3661.351541 # Seafloor depth: -3730.454427 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 103.816856 meters # Minimum depth: 3711.616883 meters looking forward 100.000000 meters along route # Maximum depth: 3714.353932 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3661.616883 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.941241; longitude = -108.841792; duration = 415; initialDepth = 3659.381273; finalDepth = 3661.616883; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.1028860000001 # Actual altitude: 69.1028860000001 # Commanded vehicle depth: 3661.616883 # Seafloor depth: -3711.616883 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.969488 meters # Minimum depth: 3709.381273 meters looking forward 100.000000 meters along route # Maximum depth: 3713.737469 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3659.381273 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.941551; longitude = -108.842754; duration = 431; initialDepth = 3659.534205; finalDepth = 3659.381273; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.3561960000002 # Actual altitude: 54.3561960000002 # Commanded vehicle depth: 3659.381273 # Seafloor depth: -3713.737469 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 104.047338 meters # Minimum depth: 3709.534205 meters looking forward 100.000000 meters along route # Maximum depth: 3722.990213 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3659.534205 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.941873; longitude = -108.843755; duration = 416; initialDepth = 3675.801407; finalDepth = 3659.534205; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.3561960000002 # Actual altitude: 54.3561960000002 # Commanded vehicle depth: 3659.534205 # Seafloor depth: -3709.534205 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.737857 meters # Minimum depth: 3725.801407 meters looking forward 100.000000 meters along route # Maximum depth: 3747.384330 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3675.801407 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.942184; longitude = -108.844719; duration = 430; initialDepth = 3695.989565; finalDepth = 3675.801407; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3675.801407 # Seafloor depth: -3725.801407 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 104.277818 meters # Minimum depth: 3745.989565 meters looking forward 100.000000 meters along route # Maximum depth: 3748.282272 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3695.989565 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.942505; longitude = -108.845718; duration = 417; initialDepth = 3692.272997; finalDepth = 3695.989565; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.496537 # Actual altitude: 51.496537 # Commanded vehicle depth: 3695.989565 # Seafloor depth: -3747.486102 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.506231 meters # Minimum depth: 3742.272997 meters looking forward 100.000000 meters along route # Maximum depth: 3745.507903 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3692.272997 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.942817; longitude = -108.846684; duration = 430; initialDepth = 3686.737828; finalDepth = 3692.272997; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2349060000001 # Actual altitude: 53.2349060000001 # Commanded vehicle depth: 3692.272997 # Seafloor depth: -3745.507903 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 104.508295 meters # Minimum depth: 3736.737828 meters looking forward 100.000000 meters along route # Maximum depth: 3742.204900 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3686.737828 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.943137; longitude = -108.847681; duration = 418; initialDepth = 3678.006660; finalDepth = 3686.737828; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.4670720000004 # Actual altitude: 55.4670720000004 # Commanded vehicle depth: 3686.737828 # Seafloor depth: -3742.204900 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.274606 meters # Minimum depth: 3728.006660 meters looking forward 100.000000 meters along route # Maximum depth: 3736.027584 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3678.006660 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.943449; longitude = -108.848650; duration = 429; initialDepth = 3668.195903; finalDepth = 3678.006660; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.0209239999999 # Actual altitude: 58.0209239999999 # Commanded vehicle depth: 3678.00666 # Seafloor depth: -3736.027584 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 104.738770 meters # Minimum depth: 3718.195903 meters looking forward 100.000000 meters along route # Maximum depth: 3727.933036 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3668.195903 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.943769; longitude = -108.849644; duration = 418; initialDepth = 3655.337654; finalDepth = 3668.195903; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.7371330000001 # Actual altitude: 59.7371330000001 # Commanded vehicle depth: 3668.195903 # Seafloor depth: -3727.933036 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.042985 meters # Minimum depth: 3705.337654 meters looking forward 100.000000 meters along route # Maximum depth: 3716.329006 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3655.337654 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.944082; longitude = -108.850615; duration = 428; initialDepth = 3655.343698; finalDepth = 3655.337654; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.991352 # Actual altitude: 60.991352 # Commanded vehicle depth: 3655.337654 # Seafloor depth: -3716.329006 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 104.969242 meters # Minimum depth: 3705.343698 meters looking forward 100.000000 meters along route # Maximum depth: 3710.208423 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3655.343698 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.944401; longitude = -108.851607; duration = 419; initialDepth = 3661.224804; finalDepth = 3655.343698; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.991352 # Actual altitude: 60.991352 # Commanded vehicle depth: 3655.343698 # Seafloor depth: -3705.343698 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 106.811365 meters # Minimum depth: 3711.224804 meters looking forward 100.000000 meters along route # Maximum depth: 3716.223288 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3661.224804 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.944715; longitude = -108.852580; duration = 427; initialDepth = 3665.208297; finalDepth = 3661.224804; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3661.224804 # Seafloor depth: -3711.224804 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 105.199713 meters # Minimum depth: 3715.208297 meters looking forward 100.000000 meters along route # Maximum depth: 3716.104842 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3665.208297 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.945033; longitude = -108.853570; duration = 420; initialDepth = 3657.982624; finalDepth = 3665.208297; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8965450000001 # Actual altitude: 50.8965450000001 # Commanded vehicle depth: 3665.208297 # Seafloor depth: -3716.104842 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 106.579749 meters # Minimum depth: 3707.982624 meters looking forward 100.000000 meters along route # Maximum depth: 3714.954359 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3657.982624 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.945347; longitude = -108.854545; duration = 426; initialDepth = 3647.789281; finalDepth = 3657.982624; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.9717349999996 # Actual altitude: 56.9717349999996 # Commanded vehicle depth: 3657.982624 # Seafloor depth: -3714.954359 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 105.430180 meters # Minimum depth: 3697.789281 meters looking forward 100.000000 meters along route # Maximum depth: 3707.930315 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3647.789281 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.945665; longitude = -108.855533; duration = 421; initialDepth = 3640.372567; finalDepth = 3647.789281; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.1410340000002 # Actual altitude: 60.1410340000002 # Commanded vehicle depth: 3647.789281 # Seafloor depth: -3707.930315 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 106.348134 meters # Minimum depth: 3690.372567 meters looking forward 100.000000 meters along route # Maximum depth: 3696.656979 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3640.372567 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.945980; longitude = -108.856511; duration = 425; initialDepth = 3639.960055; finalDepth = 3640.372567; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.1410340000002 # Actual altitude: 60.1410340000002 # Commanded vehicle depth: 3640.372567 # Seafloor depth: -3696.656979 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 105.660646 meters # Minimum depth: 3689.960055 meters looking forward 100.000000 meters along route # Maximum depth: 3690.366420 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3639.960055 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.946297; longitude = -108.857496; duration = 422; initialDepth = 3640.166864; finalDepth = 3639.960055; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.284412 # Actual altitude: 56.284412 # Commanded vehicle depth: 3639.960055 # Seafloor depth: -3690.366420 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 106.116523 meters # Minimum depth: 3690.166864 meters looking forward 100.000000 meters along route # Maximum depth: 3690.481162 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3640.166864 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.946613; longitude = -108.858476; duration = 424; initialDepth = 3635.412954; finalDepth = 3640.166864; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4063649999998 # Actual altitude: 50.4063649999998 # Commanded vehicle depth: 3640.166864 # Seafloor depth: -3690.166864 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 105.891108 meters # Minimum depth: 3685.412954 meters looking forward 100.000000 meters along route # Maximum depth: 3690.253397 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3635.412954 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.946929; longitude = -108.859460; duration = 423; initialDepth = 3631.158546; finalDepth = 3635.412954; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8404430000001 # Actual altitude: 54.8404430000001 # Commanded vehicle depth: 3635.412954 # Seafloor depth: -3690.253397 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 106.003385 meters # Minimum depth: 3681.158546 meters looking forward 100.000000 meters along route # Maximum depth: 3684.980128 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3631.158546 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.947245; longitude = -108.860441; duration = 424; initialDepth = 3622.192742; finalDepth = 3631.158546; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8404430000001 # Actual altitude: 54.8404430000001 # Commanded vehicle depth: 3631.158546 # Seafloor depth: -3684.980128 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 106.003098 meters # Minimum depth: 3672.192742 meters looking forward 100.000000 meters along route # Maximum depth: 3681.152751 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3622.192742 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.947562; longitude = -108.861424; duration = 424; initialDepth = 3608.611054; finalDepth = 3622.192742; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.9600089999999 # Actual altitude: 58.9600089999999 # Commanded vehicle depth: 3622.192742 # Seafloor depth: -3681.152751 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 106.002811 meters # Minimum depth: 3658.611054 meters looking forward 100.000000 meters along route # Maximum depth: 3670.791477 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3608.611054 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.947878; longitude = -108.862406; duration = 424; initialDepth = 3600.450023; finalDepth = 3608.611054; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.1804230000002 # Actual altitude: 62.1804230000002 # Commanded vehicle depth: 3608.611054 # Seafloor depth: -3670.791477 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 106.002524 meters # Minimum depth: 3650.450023 meters looking forward 100.000000 meters along route # Maximum depth: 3658.574223 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3600.450023 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.948194; longitude = -108.863389; duration = 424; initialDepth = 3592.722198; finalDepth = 3600.450023; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.1804230000002 # Actual altitude: 62.1804230000002 # Commanded vehicle depth: 3600.450023 # Seafloor depth: -3658.574223 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 106.002237 meters # Minimum depth: 3642.722198 meters looking forward 100.000000 meters along route # Maximum depth: 3649.656940 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3592.722198 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.948511; longitude = -108.864372; duration = 424; initialDepth = 3585.091279; finalDepth = 3592.722198; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.1242000000002 # Actual altitude: 58.1242000000002 # Commanded vehicle depth: 3592.722198 # Seafloor depth: -3649.656940 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 106.001950 meters # Minimum depth: 3635.091279 meters looking forward 100.000000 meters along route # Maximum depth: 3642.684756 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3585.091279 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.948827; longitude = -108.865354; duration = 424; initialDepth = 3579.476363; finalDepth = 3585.091279; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.5934769999999 # Actual altitude: 57.5934769999999 # Commanded vehicle depth: 3585.091279 # Seafloor depth: -3642.684756 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 106.001663 meters # Minimum depth: 3629.476363 meters looking forward 100.000000 meters along route # Maximum depth: 3634.065494 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3579.476363 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.949144; longitude = -108.866337; duration = 424; initialDepth = 3579.696367; finalDepth = 3579.476363; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.5934769999999 # Actual altitude: 57.5934769999999 # Commanded vehicle depth: 3579.476363 # Seafloor depth: -3634.065494 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 106.001376 meters # Minimum depth: 3629.696367 meters looking forward 100.000000 meters along route # Maximum depth: 3633.538951 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3579.696367 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.949460; longitude = -108.867320; duration = 424; initialDepth = 3584.060237; finalDepth = 3579.696367; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5891309999997 # Actual altitude: 54.5891309999997 # Commanded vehicle depth: 3579.696367 # Seafloor depth: -3629.696367 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 106.001089 meters # Minimum depth: 3634.060237 meters looking forward 100.000000 meters along route # Maximum depth: 3638.848371 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3584.060237 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.949776; longitude = -108.868302; duration = 424; initialDepth = 3588.902771; finalDepth = 3584.060237; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3584.060237 # Seafloor depth: -3634.060237 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 106.000802 meters # Minimum depth: 3638.902771 meters looking forward 100.000000 meters along route # Maximum depth: 3641.489343 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3588.902771 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.950093; longitude = -108.869285; duration = 424; initialDepth = 3573.022875; finalDepth = 3588.902771; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3588.902771 # Seafloor depth: -3638.902771 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 106.000516 meters # Minimum depth: 3623.022875 meters looking forward 100.000000 meters along route # Maximum depth: 3639.837576 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3573.022875 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.950409; longitude = -108.870267; duration = 424; initialDepth = 3559.687413; finalDepth = 3573.022875; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.8147009999998 # Actual altitude: 66.8147009999998 # Commanded vehicle depth: 3573.022875 # Seafloor depth: -3639.837576 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 106.000228 meters # Minimum depth: 3609.687413 meters looking forward 100.000000 meters along route # Maximum depth: 3622.824629 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3559.687413 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.950725; longitude = -108.871250; duration = 424; initialDepth = 3546.002734; finalDepth = 3559.687413; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.8147009999998 # Actual altitude: 66.8147009999998 # Commanded vehicle depth: 3559.687413 # Seafloor depth: -3622.824629 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 105.999942 meters # Minimum depth: 3596.002734 meters looking forward 100.000000 meters along route # Maximum depth: 3608.266266 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3546.002734 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.951042; longitude = -108.872233; duration = 423; initialDepth = 3528.226303; finalDepth = 3546.002734; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.1372160000001 # Actual altitude: 63.1372160000001 # Commanded vehicle depth: 3546.002734 # Seafloor depth: -3608.266266 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 109.571162 meters # Minimum depth: 3578.226303 meters looking forward 100.000000 meters along route # Maximum depth: 3595.768476 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3528.226303 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.951358; longitude = -108.873215; duration = 438; initialDepth = 3526.508677; finalDepth = 3528.226303; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 67.5421730000003 # Actual altitude: 67.5421730000003 # Commanded vehicle depth: 3528.226303 # Seafloor depth: -3595.768476 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 156.672911 meters # Minimum depth: 3576.508677 meters looking forward 100.000000 meters along route # Maximum depth: 3580.233874 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3526.508677 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.951685; longitude = -108.874231; duration = 626; # abortOnTimeout = True; initialDepth = 3530.674561; finalDepth = 3526.508677; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 67.5421730000003 # Actual altitude: 67.5421730000003 # Commanded vehicle depth: 3526.508677 # Seafloor depth: -3577.557068 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 176.593962 meters # Minimum depth: 3580.674561 meters looking forward 100.000000 meters along route # Maximum depth: 3609.688417 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3530.674561 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.953099; longitude = -108.874263; duration = 706; # abortOnTimeout = True; initialDepth = 3561.165136; finalDepth = 3530.674561; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0483910000003 # Actual altitude: 51.0483910000003 # Commanded vehicle depth: 3530.674561 # Seafloor depth: -3580.674561 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 106.102049 meters # Minimum depth: 3611.165136 meters looking forward 100.000000 meters along route # Maximum depth: 3628.118737 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3561.165136 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.952573; longitude = -108.872626; duration = 424; initialDepth = 3578.142612; finalDepth = 3561.165136; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3561.165136 # Seafloor depth: -3611.165136 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 105.863546 meters # Minimum depth: 3628.142612 meters looking forward 100.000000 meters along route # Maximum depth: 3646.182329 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3578.142612 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.952256; longitude = -108.871642; duration = 423; initialDepth = 3597.223634; finalDepth = 3578.142612; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3578.142612 # Seafloor depth: -3628.142612 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 106.172657 meters # Minimum depth: 3647.223634 meters looking forward 100.000000 meters along route # Maximum depth: 3649.942222 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3597.223634 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.951941; longitude = -108.870660; duration = 424; initialDepth = 3592.922568; finalDepth = 3597.223634; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2425080000003 # Actual altitude: 50.2425080000003 # Commanded vehicle depth: 3597.223634 # Seafloor depth: -3647.466142 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 105.794084 meters # Minimum depth: 3642.922568 meters looking forward 100.000000 meters along route # Maximum depth: 3647.214848 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3592.922568 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.951624; longitude = -108.869676; duration = 423; initialDepth = 3589.910345; finalDepth = 3592.922568; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.2922800000001 # Actual altitude: 54.2922800000001 # Commanded vehicle depth: 3592.922568 # Seafloor depth: -3647.214848 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 106.243267 meters # Minimum depth: 3639.910345 meters looking forward 100.000000 meters along route # Maximum depth: 3642.513989 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3589.910345 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.951309; longitude = -108.868695; duration = 424; initialDepth = 3585.038977; finalDepth = 3589.910345; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.2922800000001 # Actual altitude: 54.2922800000001 # Commanded vehicle depth: 3589.910345 # Seafloor depth: -3642.513989 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 105.724620 meters # Minimum depth: 3635.038977 meters looking forward 100.000000 meters along route # Maximum depth: 3639.898929 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3585.038977 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.950992; longitude = -108.867710; duration = 422; initialDepth = 3584.274868; finalDepth = 3585.038977; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8599519999998 # Actual altitude: 54.8599519999998 # Commanded vehicle depth: 3585.038977 # Seafloor depth: -3639.898929 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 106.313878 meters # Minimum depth: 3634.274868 meters looking forward 100.000000 meters along route # Maximum depth: 3638.501362 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3584.274868 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.950677; longitude = -108.866730; duration = 425; initialDepth = 3588.526309; finalDepth = 3584.274868; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8599519999998 # Actual altitude: 54.8599519999998 # Commanded vehicle depth: 3584.274868 # Seafloor depth: -3634.708211 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 105.655156 meters # Minimum depth: 3638.526309 meters looking forward 100.000000 meters along route # Maximum depth: 3644.664673 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3588.526309 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.950360; longitude = -108.865744; duration = 422; initialDepth = 3595.250098; finalDepth = 3588.526309; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4333430000001 # Actual altitude: 50.4333430000001 # Commanded vehicle depth: 3588.526309 # Seafloor depth: -3638.526309 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 106.384489 meters # Minimum depth: 3645.250098 meters looking forward 100.000000 meters along route # Maximum depth: 3657.288970 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3595.250098 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.950045; longitude = -108.864765; duration = 425; initialDepth = 3607.366864; finalDepth = 3595.250098; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3595.250098 # Seafloor depth: -3645.250098 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 105.585691 meters # Minimum depth: 3657.366864 meters looking forward 100.000000 meters along route # Maximum depth: 3671.337289 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3607.366864 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.949728; longitude = -108.863778; duration = 422; initialDepth = 3622.196179; finalDepth = 3607.366864; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3607.366864 # Seafloor depth: -3657.366864 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 106.455102 meters # Minimum depth: 3672.196179 meters looking forward 100.000000 meters along route # Maximum depth: 3682.003567 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3622.196179 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.949414; longitude = -108.862799; duration = 425; initialDepth = 3632.045117; finalDepth = 3622.196179; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3622.196179 # Seafloor depth: -3672.196179 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 105.516226 meters # Minimum depth: 3682.045117 meters looking forward 100.000000 meters along route # Maximum depth: 3687.740382 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3632.045117 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.949096; longitude = -108.861812; duration = 422; initialDepth = 3638.099253; finalDepth = 3632.045117; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3632.045117 # Seafloor depth: -3682.045117 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 106.525714 meters # Minimum depth: 3688.099253 meters looking forward 100.000000 meters along route # Maximum depth: 3692.948643 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3638.099253 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.948782; longitude = -108.860834; duration = 426; initialDepth = 3642.975516; finalDepth = 3638.099253; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3638.099253 # Seafloor depth: -3688.099253 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 105.446761 meters # Minimum depth: 3692.975516 meters looking forward 100.000000 meters along route # Maximum depth: 3696.802439 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3642.975516 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.948464; longitude = -108.859847; duration = 421; initialDepth = 3646.937878; finalDepth = 3642.975516; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3642.975516 # Seafloor depth: -3692.975516 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 106.596328 meters # Minimum depth: 3696.937878 meters looking forward 100.000000 meters along route # Maximum depth: 3697.145038 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3646.937878 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.948150; longitude = -108.858869; duration = 426; initialDepth = 3646.937768; finalDepth = 3646.937878; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0030299999999 # Actual altitude: 50.0030299999999 # Commanded vehicle depth: 3646.937878 # Seafloor depth: -3696.940908 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 105.377294 meters # Minimum depth: 3696.937768 meters looking forward 100.000000 meters along route # Maximum depth: 3701.002554 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3646.937768 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.947832; longitude = -108.857881; duration = 421; initialDepth = 3651.864300; finalDepth = 3646.937768; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0030299999999 # Actual altitude: 50.0030299999999 # Commanded vehicle depth: 3646.937768 # Seafloor depth: -3696.937768 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 106.666943 meters # Minimum depth: 3701.864300 meters looking forward 100.000000 meters along route # Maximum depth: 3707.630557 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3651.864300 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.947518; longitude = -108.856904; duration = 426; initialDepth = 3657.669451; finalDepth = 3651.864300; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3651.8643 # Seafloor depth: -3701.864300 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 105.307827 meters # Minimum depth: 3707.669451 meters looking forward 100.000000 meters along route # Maximum depth: 3713.975453 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3657.669451 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.947200; longitude = -108.855915; duration = 421; initialDepth = 3664.615379; finalDepth = 3657.669451; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3657.669451 # Seafloor depth: -3707.669451 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 106.737559 meters # Minimum depth: 3714.615379 meters looking forward 100.000000 meters along route # Maximum depth: 3718.752702 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3664.615379 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.946886; longitude = -108.854938; duration = 426; initialDepth = 3668.781323; finalDepth = 3664.615379; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3664.615379 # Seafloor depth: -3714.615379 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 105.238359 meters # Minimum depth: 3718.781323 meters looking forward 100.000000 meters along route # Maximum depth: 3722.076455 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3668.781323 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.946568; longitude = -108.853949; duration = 420; initialDepth = 3672.283678; finalDepth = 3668.781323; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3668.781323 # Seafloor depth: -3718.781323 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 106.808175 meters # Minimum depth: 3722.283678 meters looking forward 100.000000 meters along route # Maximum depth: 3722.793076 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3672.283678 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.946255; longitude = -108.852973; duration = 427; initialDepth = 3672.637254; finalDepth = 3672.283678; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3672.283678 # Seafloor depth: -3722.283678 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 105.168891 meters # Minimum depth: 3722.637254 meters looking forward 100.000000 meters along route # Maximum depth: 3725.203282 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3672.637254 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.945936; longitude = -108.851983; duration = 420; initialDepth = 3675.531835; finalDepth = 3672.637254; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3672.637254 # Seafloor depth: -3722.637254 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 106.878792 meters # Minimum depth: 3725.531835 meters looking forward 100.000000 meters along route # Maximum depth: 3730.195916 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3675.531835 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.945623; longitude = -108.851008; duration = 427; initialDepth = 3680.254297; finalDepth = 3675.531835; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3675.531835 # Seafloor depth: -3725.531835 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 105.099421 meters # Minimum depth: 3730.254297 meters looking forward 100.000000 meters along route # Maximum depth: 3732.934331 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3680.254297 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.945304; longitude = -108.850017; duration = 420; initialDepth = 3683.219636; finalDepth = 3680.254297; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3680.254297 # Seafloor depth: -3730.254297 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 106.949411 meters # Minimum depth: 3733.219636 meters looking forward 100.000000 meters along route # Maximum depth: 3742.487195 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3683.219636 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.944991; longitude = -108.849043; duration = 427; initialDepth = 3692.591588; finalDepth = 3683.219636; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3683.219636 # Seafloor depth: -3733.219636 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 105.029952 meters # Minimum depth: 3742.591588 meters looking forward 100.000000 meters along route # Maximum depth: 3750.111910 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3692.591588 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.944672; longitude = -108.848051; duration = 420; initialDepth = 3700.616214; finalDepth = 3692.591588; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3692.591588 # Seafloor depth: -3742.591588 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.020029 meters # Minimum depth: 3750.616214 meters looking forward 100.000000 meters along route # Maximum depth: 3752.912495 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3700.616214 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.944359; longitude = -108.847077; duration = 428; initialDepth = 3700.795812; finalDepth = 3700.616214; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3700.616214 # Seafloor depth: -3750.616214 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 104.960481 meters # Minimum depth: 3750.795812 meters looking forward 100.000000 meters along route # Maximum depth: 3752.782237 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3700.795812 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.944040; longitude = -108.846085; duration = 419; initialDepth = 3678.828894; finalDepth = 3700.795812; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9864250000001 # Actual altitude: 51.9864250000001 # Commanded vehicle depth: 3700.795812 # Seafloor depth: -3752.782237 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.090650 meters # Minimum depth: 3728.828894 meters looking forward 100.000000 meters along route # Maximum depth: 3750.328561 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3678.828894 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.943727; longitude = -108.845112; duration = 428; initialDepth = 3655.730368; finalDepth = 3678.828894; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.4996669999996 # Actual altitude: 71.4996669999996 # Commanded vehicle depth: 3678.828894 # Seafloor depth: -3750.328561 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 104.891010 meters # Minimum depth: 3705.730368 meters looking forward 100.000000 meters along route # Maximum depth: 3728.460591 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3655.730368 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.943408; longitude = -108.844119; duration = 419; initialDepth = 3649.440888; finalDepth = 3655.730368; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.730223 # Actual altitude: 72.730223 # Commanded vehicle depth: 3655.730368 # Seafloor depth: -3728.460591 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.161270 meters # Minimum depth: 3699.440888 meters looking forward 100.000000 meters along route # Maximum depth: 3704.728179 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3649.440888 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.943096; longitude = -108.843147; duration = 428; initialDepth = 3649.096796; finalDepth = 3649.440888; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.730223 # Actual altitude: 72.730223 # Commanded vehicle depth: 3649.440888 # Seafloor depth: -3704.728179 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 104.821538 meters # Minimum depth: 3699.096796 meters looking forward 100.000000 meters along route # Maximum depth: 3711.959346 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3649.096796 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.942776; longitude = -108.842153; duration = 419; initialDepth = 3665.633433; finalDepth = 3649.096796; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.2872910000001 # Actual altitude: 55.2872910000001 # Commanded vehicle depth: 3649.096796 # Seafloor depth: -3699.383552 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.231892 meters # Minimum depth: 3715.633433 meters looking forward 100.000000 meters along route # Maximum depth: 3749.996699 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3665.633433 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.942464; longitude = -108.841182; duration = 428; initialDepth = 3694.366131; finalDepth = 3665.633433; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.286756 # Actual altitude: 50.286756 # Commanded vehicle depth: 3665.633433 # Seafloor depth: -3715.633433 # 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 7 # Segment length 104.752066 meters # Minimum depth: 3750.192146 meters looking forward 100.000000 meters along route # Maximum depth: 3755.921904 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3694.366131 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.942144; longitude = -108.840188; duration = 419; initialDepth = 3702.773222; finalDepth = 3694.366131; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.8260146489984 # Actual altitude: 55.8260146489984 # Commanded vehicle depth: 3694.366131351 # Seafloor depth: -3750.192146 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.302514 meters # Minimum depth: 3752.773222 meters looking forward 100.000000 meters along route # Maximum depth: 3755.919730 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3702.773222 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.941832; longitude = -108.839216; duration = 429; initialDepth = 3702.074010; finalDepth = 3702.773222; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.8260146489984 # Actual altitude: 55.8260146489984 # Commanded vehicle depth: 3702.773222 # Seafloor depth: -3755.919730 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 104.682593 meters # Minimum depth: 3752.074010 meters looking forward 100.000000 meters along route # Maximum depth: 3752.730509 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3702.074010 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.941512; longitude = -108.838222; duration = 418; initialDepth = 3697.784142; finalDepth = 3702.074010; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1465080000003 # Actual altitude: 53.1465080000003 # Commanded vehicle depth: 3702.07401 # Seafloor depth: -3752.730509 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.373137 meters # Minimum depth: 3747.784142 meters looking forward 100.000000 meters along route # Maximum depth: 3752.457126 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3697.784142 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.941200; longitude = -108.837251; duration = 429; initialDepth = 3689.909078; finalDepth = 3697.784142; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.6729839999998 # Actual altitude: 54.6729839999998 # Commanded vehicle depth: 3697.784142 # Seafloor depth: -3752.457126 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 104.613119 meters # Minimum depth: 3739.909078 meters looking forward 100.000000 meters along route # Maximum depth: 3747.686389 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3689.909078 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.940880; longitude = -108.836256; duration = 418; initialDepth = 3683.805232; finalDepth = 3689.909078; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.7773109999998 # Actual altitude: 57.7773109999998 # Commanded vehicle depth: 3689.909078 # Seafloor depth: -3747.686389 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.443762 meters # Minimum depth: 3733.805232 meters looking forward 100.000000 meters along route # Maximum depth: 3739.261558 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3683.805232 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.940568; longitude = -108.835286; duration = 429; initialDepth = 3683.458863; finalDepth = 3683.805232; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.7773109999998 # Actual altitude: 57.7773109999998 # Commanded vehicle depth: 3683.805232 # Seafloor depth: -3739.261558 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 101.058636 meters # Minimum depth: 3733.458863 meters looking forward 100.000000 meters along route # Maximum depth: 3733.788380 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3683.458863 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.940248; longitude = -108.834290; duration = 404; initialDepth = 3683.433838; finalDepth = 3683.458863; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.456326 # Actual altitude: 55.456326 # Commanded vehicle depth: 3683.458863 # Seafloor depth: -3733.788380 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 158.212590 meters # Minimum depth: 3733.433838 meters looking forward 100.000000 meters along route # Maximum depth: 3747.404895 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3683.433838 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.939947; longitude = -108.833353; duration = 632; # abortOnTimeout = True; initialDepth = 3696.227153; finalDepth = 3683.433838; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.3295170000001 # Actual altitude: 50.3295170000001 # Commanded vehicle depth: 3683.433838 # Seafloor depth: -3733.433838 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.16; 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 112.881537 meters # Minimum depth: 3746.227153 meters looking forward 100.000000 meters along route # Maximum depth: 3748.177795 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3696.227153 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.941302; longitude = -108.832862; duration = 451; # abortOnTimeout = True; initialDepth = 3698.468728; finalDepth = 3696.227153; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9506420000002 # Actual altitude: 51.9506420000002 # Commanded vehicle depth: 3696.227153 # Seafloor depth: -3748.177795 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.812654 meters # Minimum depth: 3748.468728 meters looking forward 100.000000 meters along route # Maximum depth: 3750.247454 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3698.468728 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.941634; longitude = -108.833910; duration = 423; initialDepth = 3700.486010; finalDepth = 3698.468728; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9506420000002 # Actual altitude: 51.9506420000002 # Commanded vehicle depth: 3698.468728 # Seafloor depth: -3748.468728 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 105.812371 meters # Minimum depth: 3750.486010 meters looking forward 100.000000 meters along route # Maximum depth: 3755.694677 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3700.486010 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.941945; longitude = -108.834893; duration = 423; initialDepth = 3706.247678; finalDepth = 3700.486010; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3700.48601 # Seafloor depth: -3750.486010 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 105.812086 meters # Minimum depth: 3756.247678 meters looking forward 100.000000 meters along route # Maximum depth: 3761.322749 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3706.247678 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.942256; longitude = -108.835876; duration = 423; initialDepth = 3709.276307; finalDepth = 3706.247678; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3706.247678 # Seafloor depth: -3756.247678 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 105.811802 meters # Minimum depth: 3759.276307 meters looking forward 100.000000 meters along route # Maximum depth: 3761.737855 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3709.276307 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.942567; longitude = -108.836858; duration = 423; initialDepth = 3709.249051; finalDepth = 3709.276307; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3236959999999 # Actual altitude: 52.3236959999999 # Commanded vehicle depth: 3709.276307 # Seafloor depth: -3761.600003 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 105.811518 meters # Minimum depth: 3759.249051 meters looking forward 100.000000 meters along route # Maximum depth: 3761.847737 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3709.249051 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.942878; longitude = -108.837841; duration = 423; initialDepth = 3710.311615; finalDepth = 3709.249051; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3236959999999 # Actual altitude: 52.3236959999999 # Commanded vehicle depth: 3709.249051 # Seafloor depth: -3759.249051 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 105.811234 meters # Minimum depth: 3760.311615 meters looking forward 100.000000 meters along route # Maximum depth: 3762.329634 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3710.311615 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.943188; longitude = -108.838823; duration = 423; initialDepth = 3688.380412; finalDepth = 3710.311615; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6979339999998 # Actual altitude: 51.6979339999998 # Commanded vehicle depth: 3710.311615 # Seafloor depth: -3762.009549 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 105.810950 meters # Minimum depth: 3738.380412 meters looking forward 100.000000 meters along route # Maximum depth: 3760.296410 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3688.380412 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.943499; longitude = -108.839806; duration = 423; initialDepth = 3661.409816; finalDepth = 3688.380412; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.9159979999999 # Actual altitude: 71.9159979999999 # Commanded vehicle depth: 3688.380412 # Seafloor depth: -3760.296410 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 108.956763 meters # Minimum depth: 3711.409816 meters looking forward 100.000000 meters along route # Maximum depth: 3734.278919 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3661.409816 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.943810; longitude = -108.840789; duration = 435; initialDepth = 3661.450382; finalDepth = 3661.409816; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.869103 # Actual altitude: 72.869103 # Commanded vehicle depth: 3661.409816 # Seafloor depth: -3734.278919 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 102.664285 meters # Minimum depth: 3711.450382 meters looking forward 100.000000 meters along route # Maximum depth: 3718.693507 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3661.450382 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.944131; longitude = -108.841800; duration = 410; initialDepth = 3670.282833; finalDepth = 3661.450382; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.869103 # Actual altitude: 72.869103 # Commanded vehicle depth: 3661.450382 # Seafloor depth: -3711.450382 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 105.810098 meters # Minimum depth: 3720.282833 meters looking forward 100.000000 meters along route # Maximum depth: 3743.925116 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3670.282833 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.944432; longitude = -108.842754; duration = 423; initialDepth = 3697.092734; finalDepth = 3670.282833; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3670.282833 # Seafloor depth: -3720.282833 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 105.809814 meters # Minimum depth: 3747.092734 meters looking forward 100.000000 meters along route # Maximum depth: 3759.346888 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3697.092734 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.944743; longitude = -108.843737; duration = 423; initialDepth = 3706.338063; finalDepth = 3697.092734; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3697.092734 # Seafloor depth: -3747.092734 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 105.809531 meters # Minimum depth: 3756.338063 meters looking forward 100.000000 meters along route # Maximum depth: 3759.327352 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3706.338063 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.945054; longitude = -108.844719; duration = 423; initialDepth = 3700.857536; finalDepth = 3706.338063; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9892889999996 # Actual altitude: 52.9892889999996 # Commanded vehicle depth: 3706.338063 # Seafloor depth: -3759.327352 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 105.809246 meters # Minimum depth: 3750.857536 meters looking forward 100.000000 meters along route # Maximum depth: 3755.751579 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3700.857536 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.945365; longitude = -108.845702; duration = 423; initialDepth = 3697.226165; finalDepth = 3700.857536; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8940430000002 # Actual altitude: 54.8940430000002 # Commanded vehicle depth: 3700.857536 # Seafloor depth: -3755.751579 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 105.808963 meters # Minimum depth: 3747.226165 meters looking forward 100.000000 meters along route # Maximum depth: 3750.765249 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3697.226165 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.945676; longitude = -108.846684; duration = 423; initialDepth = 3690.893567; finalDepth = 3697.226165; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8940430000002 # Actual altitude: 54.8940430000002 # Commanded vehicle depth: 3697.226165 # Seafloor depth: -3750.765249 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 105.808678 meters # Minimum depth: 3740.893567 meters looking forward 100.000000 meters along route # Maximum depth: 3746.447423 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3690.893567 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.945987; longitude = -108.847667; duration = 423; initialDepth = 3686.749521; finalDepth = 3690.893567; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.553856 # Actual altitude: 55.553856 # Commanded vehicle depth: 3690.893567 # Seafloor depth: -3746.447423 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 105.808395 meters # Minimum depth: 3736.749521 meters looking forward 100.000000 meters along route # Maximum depth: 3740.890977 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3686.749521 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.946298; longitude = -108.848650; duration = 423; initialDepth = 3671.573412; finalDepth = 3686.749521; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.553856 # Actual altitude: 55.553856 # Commanded vehicle depth: 3686.749521 # Seafloor depth: -3740.890977 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 109.083796 meters # Minimum depth: 3721.573412 meters looking forward 100.000000 meters along route # Maximum depth: 3735.450323 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3671.573412 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.946609; longitude = -108.849632; duration = 436; initialDepth = 3670.174118; finalDepth = 3671.573412; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.8769109999998 # Actual altitude: 63.8769109999998 # Commanded vehicle depth: 3671.573412 # Seafloor depth: -3735.450323 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 102.532143 meters # Minimum depth: 3720.174118 meters looking forward 100.000000 meters along route # Maximum depth: 3722.471122 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3670.174118 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.946929; longitude = -108.850645; duration = 410; initialDepth = 3673.004594; finalDepth = 3670.174118; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.8769109999998 # Actual altitude: 63.8769109999998 # Commanded vehicle depth: 3670.174118 # Seafloor depth: -3721.358390 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 105.807543 meters # Minimum depth: 3723.004594 meters looking forward 100.000000 meters along route # Maximum depth: 3723.987480 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3673.004594 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.947231; longitude = -108.851598; duration = 423; initialDepth = 3668.745262; finalDepth = 3673.004594; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.184272 # Actual altitude: 51.184272 # Commanded vehicle depth: 3673.004594 # Seafloor depth: -3723.004594 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 105.807260 meters # Minimum depth: 3718.745262 meters looking forward 100.000000 meters along route # Maximum depth: 3722.830531 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3668.745262 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.947542; longitude = -108.852580; duration = 423; initialDepth = 3667.111522; finalDepth = 3668.745262; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0852690000002 # Actual altitude: 54.0852690000002 # Commanded vehicle depth: 3668.745262 # Seafloor depth: -3722.830531 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 105.806976 meters # Minimum depth: 3717.111522 meters looking forward 100.000000 meters along route # Maximum depth: 3718.467704 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3667.111522 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.947853; longitude = -108.853563; duration = 423; initialDepth = 3661.873882; finalDepth = 3667.111522; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0852690000002 # Actual altitude: 54.0852690000002 # Commanded vehicle depth: 3667.111522 # Seafloor depth: -3718.467704 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 105.806693 meters # Minimum depth: 3711.873882 meters looking forward 100.000000 meters along route # Maximum depth: 3716.843617 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3661.873882 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.948164; longitude = -108.854545; duration = 423; initialDepth = 3658.199377; finalDepth = 3661.873882; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.9697350000001 # Actual altitude: 54.9697350000001 # Commanded vehicle depth: 3661.873882 # Seafloor depth: -3716.843617 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 105.806409 meters # Minimum depth: 3708.199377 meters looking forward 100.000000 meters along route # Maximum depth: 3711.741033 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3658.199377 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.948475; longitude = -108.855528; duration = 423; initialDepth = 3653.109727; finalDepth = 3658.199377; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.9697350000001 # Actual altitude: 54.9697350000001 # Commanded vehicle depth: 3658.199377 # Seafloor depth: -3711.741033 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 105.806125 meters # Minimum depth: 3703.109727 meters looking forward 100.000000 meters along route # Maximum depth: 3707.717466 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3653.109727 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.948785; longitude = -108.856511; duration = 423; initialDepth = 3650.261152; finalDepth = 3653.109727; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.607739 # Actual altitude: 54.607739 # Commanded vehicle depth: 3653.109727 # Seafloor depth: -3707.717466 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 105.805842 meters # Minimum depth: 3700.261152 meters looking forward 100.000000 meters along route # Maximum depth: 3703.107939 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3650.261152 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.949096; longitude = -108.857493; duration = 423; initialDepth = 3647.967023; finalDepth = 3650.261152; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.607739 # Actual altitude: 54.607739 # Commanded vehicle depth: 3650.261152 # Seafloor depth: -3703.107939 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 109.210823 meters # Minimum depth: 3697.967023 meters looking forward 100.000000 meters along route # Maximum depth: 3700.159348 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3647.967023 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.949407; longitude = -108.858476; duration = 436; initialDepth = 3646.875253; finalDepth = 3647.967023; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.8467869999999 # Actual altitude: 52.8467869999999 # Commanded vehicle depth: 3647.967023 # Seafloor depth: -3700.159348 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 102.400009 meters # Minimum depth: 3696.875253 meters looking forward 100.000000 meters along route # Maximum depth: 3697.912611 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3646.875253 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.949728; longitude = -108.859490; duration = 409; initialDepth = 3641.974409; finalDepth = 3646.875253; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.192325 # Actual altitude: 52.192325 # Commanded vehicle depth: 3646.875253 # Seafloor depth: -3697.912611 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 105.804991 meters # Minimum depth: 3691.974409 meters looking forward 100.000000 meters along route # Maximum depth: 3696.596258 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3641.974409 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.950029; longitude = -108.860441; duration = 423; initialDepth = 3629.359451; finalDepth = 3641.974409; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.6218490000001 # Actual altitude: 54.6218490000001 # Commanded vehicle depth: 3641.974409 # Seafloor depth: -3696.596258 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 105.804708 meters # Minimum depth: 3679.359451 meters looking forward 100.000000 meters along route # Maximum depth: 3691.106415 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3629.359451 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.950340; longitude = -108.861424; duration = 423; initialDepth = 3610.686955; finalDepth = 3629.359451; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.7469640000004 # Actual altitude: 61.7469640000004 # Commanded vehicle depth: 3629.359451 # Seafloor depth: -3691.106415 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 105.804424 meters # Minimum depth: 3660.686955 meters looking forward 100.000000 meters along route # Maximum depth: 3678.436786 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3610.686955 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.950651; longitude = -108.862406; duration = 423; initialDepth = 3596.447570; finalDepth = 3610.686955; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.7498310000001 # Actual altitude: 67.7498310000001 # Commanded vehicle depth: 3610.686955 # Seafloor depth: -3678.436786 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 105.804141 meters # Minimum depth: 3646.447570 meters looking forward 100.000000 meters along route # Maximum depth: 3658.403002 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3596.447570 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.950962; longitude = -108.863389; duration = 423; initialDepth = 3590.046495; finalDepth = 3596.447570; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.7498310000001 # Actual altitude: 67.7498310000001 # Commanded vehicle depth: 3596.44757 # Seafloor depth: -3658.403002 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 105.803857 meters # Minimum depth: 3640.046495 meters looking forward 100.000000 meters along route # Maximum depth: 3646.332713 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3590.046495 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.951273; longitude = -108.864372; duration = 423; initialDepth = 3585.880414; finalDepth = 3590.046495; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.9554320000002 # Actual altitude: 61.9554320000002 # Commanded vehicle depth: 3590.046495 # Seafloor depth: -3646.332713 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 105.896142 meters # Minimum depth: 3635.880414 meters looking forward 100.000000 meters along route # Maximum depth: 3638.854525 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3585.880414 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.951584; longitude = -108.865354; duration = 423; initialDepth = 3588.673564; finalDepth = 3585.880414; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.2862179999997 # Actual altitude: 56.2862179999997 # Commanded vehicle depth: 3585.880414 # Seafloor depth: -3638.854525 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 105.710722 meters # Minimum depth: 3638.673564 meters looking forward 100.000000 meters along route # Maximum depth: 3645.117837 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3588.673564 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.951895; longitude = -108.866338; duration = 422; initialDepth = 3595.393783; finalDepth = 3588.673564; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.974111 # Actual altitude: 52.974111 # Commanded vehicle depth: 3588.673564 # Seafloor depth: -3638.673564 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 109.337848 meters # Minimum depth: 3645.393783 meters looking forward 100.000000 meters along route # Maximum depth: 3647.613252 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3595.393783 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.952206; longitude = -108.867320; duration = 437; initialDepth = 3597.748231; finalDepth = 3595.393783; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3595.393783 # Seafloor depth: -3645.393783 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 102.267883 meters # Minimum depth: 3647.748231 meters looking forward 100.000000 meters along route # Maximum depth: 3651.021283 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3597.748231 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.952527; longitude = -108.868335; duration = 409; initialDepth = 3601.488189; finalDepth = 3597.748231; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3597.748231 # Seafloor depth: -3647.748231 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 105.802441 meters # Minimum depth: 3651.488189 meters looking forward 100.000000 meters along route # Maximum depth: 3655.212663 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3601.488189 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.952828; longitude = -108.869285; duration = 423; initialDepth = 3605.532392; finalDepth = 3601.488189; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3601.488189 # Seafloor depth: -3651.488189 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 105.802157 meters # Minimum depth: 3655.532392 meters looking forward 100.000000 meters along route # Maximum depth: 3656.873146 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3605.532392 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.953139; longitude = -108.870267; duration = 423; initialDepth = 3583.763590; finalDepth = 3605.532392; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3605.532392 # Seafloor depth: -3655.532392 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 105.801874 meters # Minimum depth: 3633.763590 meters looking forward 100.000000 meters along route # Maximum depth: 3655.111298 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3583.763590 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.953450; longitude = -108.871250; duration = 423; initialDepth = 3551.396794; finalDepth = 3583.763590; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.3477079999998 # Actual altitude: 71.3477079999998 # Commanded vehicle depth: 3583.76359 # Seafloor depth: -3655.111298 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 105.801590 meters # Minimum depth: 3601.396794 meters looking forward 100.000000 meters along route # Maximum depth: 3630.678951 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3551.396794 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.953761; longitude = -108.872233; duration = 423; initialDepth = 3532.267585; finalDepth = 3551.396794; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.2821569999996 # Actual altitude: 79.2821569999996 # Commanded vehicle depth: 3551.396794 # Seafloor depth: -3630.678951 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 109.366132 meters # Minimum depth: 3582.267585 meters looking forward 100.000000 meters along route # Maximum depth: 3600.613251 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3532.267585 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.954072; longitude = -108.873215; duration = 437; initialDepth = 3517.789893; finalDepth = 3532.267585; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 79.2821569999996 # Actual altitude: 79.2821569999996 # Commanded vehicle depth: 3532.267585 # Seafloor depth: -3600.613251 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 180.013099 meters # Minimum depth: 3567.789893 meters looking forward 100.000000 meters along route # Maximum depth: 3581.410339 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3517.789893 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.954393; longitude = -108.874231; duration = 720; # abortOnTimeout = True; initialDepth = 3517.246643; finalDepth = 3517.789893; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 68.3456660000002 # Actual altitude: 68.3456660000002 # Commanded vehicle depth: 3517.789893 # Seafloor depth: -3581.410339 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 99.146605 meters # Minimum depth: 3567.246643 meters looking forward 100.000000 meters along route # Maximum depth: 3587.831964 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3517.246643 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.956018; longitude = -108.874231; duration = 396; # abortOnTimeout = True; initialDepth = 3540.383236; finalDepth = 3517.246643; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.6204459999999 # Actual altitude: 63.6204459999999 # Commanded vehicle depth: 3517.246643 # Seafloor depth: -3567.246643 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 106.187795 meters # Minimum depth: 3590.383236 meters looking forward 100.000000 meters along route # Maximum depth: 3620.204363 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3540.383236 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.955718; longitude = -108.873314; duration = 424; initialDepth = 3568.836169; finalDepth = 3540.383236; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3540.383236 # Seafloor depth: -3590.383236 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 106.188086 meters # Minimum depth: 3622.314025 meters looking forward 100.000000 meters along route # Maximum depth: 3658.942064 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3568.836169 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.955396; longitude = -108.872331; duration = 424; initialDepth = 3597.289181; finalDepth = 3568.836169; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.4778555919706 # Actual altitude: 53.4778555919706 # Commanded vehicle depth: 3568.83616940803 # Seafloor depth: -3622.314025 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 106.188376 meters # Minimum depth: 3661.971266 meters looking forward 100.000000 meters along route # Maximum depth: 3666.519522 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3597.289181 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.955075; longitude = -108.871348; duration = 424; initialDepth = 3609.529618; finalDepth = 3597.289181; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.682085210728 # Actual altitude: 64.682085210728 # Commanded vehicle depth: 3597.28918078927 # Seafloor depth: -3661.971266 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 108.969424 meters # Minimum depth: 3659.529618 meters looking forward 100.000000 meters along route # Maximum depth: 3662.709306 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3609.529618 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.954753; longitude = -108.870366; duration = 435; initialDepth = 3606.732719; finalDepth = 3609.529618; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.682085210728 # Actual altitude: 64.682085210728 # Commanded vehicle depth: 3609.529618 # Seafloor depth: -3662.709306 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 103.408199 meters # Minimum depth: 3656.732719 meters looking forward 100.000000 meters along route # Maximum depth: 3659.392980 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3606.732719 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.954423; longitude = -108.869357; duration = 413; initialDepth = 3604.505761; finalDepth = 3606.732719; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1796880000002 # Actual altitude: 53.1796880000002 # Commanded vehicle depth: 3606.732719 # Seafloor depth: -3659.392980 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 106.189247 meters # Minimum depth: 3654.505761 meters looking forward 100.000000 meters along route # Maximum depth: 3656.450100 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3604.505761 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.954110; longitude = -108.868400; duration = 424; initialDepth = 3602.703744; finalDepth = 3604.505761; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.660261 # Actual altitude: 52.660261 # Commanded vehicle depth: 3604.505761 # Seafloor depth: -3656.450100 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 106.189537 meters # Minimum depth: 3652.703744 meters looking forward 100.000000 meters along route # Maximum depth: 3654.488359 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3602.703744 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.953789; longitude = -108.867418; duration = 424; initialDepth = 3598.082908; finalDepth = 3602.703744; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9443390000001 # Actual altitude: 51.9443390000001 # Commanded vehicle depth: 3602.703744 # Seafloor depth: -3654.488359 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 101.674522 meters # Minimum depth: 3648.082908 meters looking forward 100.000000 meters along route # Maximum depth: 3652.204346 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3598.082908 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.953467; longitude = -108.866435; duration = 406; initialDepth = 3598.035840; finalDepth = 3598.082908; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1214380000001 # Actual altitude: 54.1214380000001 # Commanded vehicle depth: 3598.082908 # Seafloor depth: -3652.204346 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.086399 meters # Minimum depth: 3648.035840 meters looking forward 100.000000 meters along route # Maximum depth: 3649.755731 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3598.035840 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.953159; longitude = -108.865494; duration = 400; initialDepth = 3597.828593; finalDepth = 3598.035840; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1214380000001 # Actual altitude: 54.1214380000001 # Commanded vehicle depth: 3598.03584 # Seafloor depth: -3648.054175 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 108.646037 meters # Minimum depth: 3647.828593 meters looking forward 100.000000 meters along route # Maximum depth: 3649.680504 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3597.828593 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.952856; longitude = -108.864568; duration = 434; initialDepth = 3599.803533; finalDepth = 3597.828593; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8519109999997 # Actual altitude: 51.8519109999997 # Commanded vehicle depth: 3597.828593 # Seafloor depth: -3649.680504 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 103.735013 meters # Minimum depth: 3649.803533 meters looking forward 100.000000 meters along route # Maximum depth: 3669.456429 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3599.803533 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.952527; longitude = -108.863563; duration = 414; initialDepth = 3621.910031; finalDepth = 3599.803533; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8519109999997 # Actual altitude: 51.8519109999997 # Commanded vehicle depth: 3599.803533 # Seafloor depth: -3649.803533 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 106.190961 meters # Minimum depth: 3671.910031 meters looking forward 100.000000 meters along route # Maximum depth: 3686.109043 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3621.910031 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.952213; longitude = -108.862603; duration = 424; initialDepth = 3636.223330; finalDepth = 3621.910031; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3621.910031 # Seafloor depth: -3671.910031 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 106.191251 meters # Minimum depth: 3686.223330 meters looking forward 100.000000 meters along route # Maximum depth: 3695.885267 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3636.223330 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.951892; longitude = -108.861620; duration = 424; initialDepth = 3646.829206; finalDepth = 3636.223330; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3636.22333 # Seafloor depth: -3686.223330 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 101.351014 meters # Minimum depth: 3696.829206 meters looking forward 100.000000 meters along route # Maximum depth: 3702.763503 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3646.829206 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.951570; longitude = -108.860638; duration = 405; initialDepth = 3653.055277; finalDepth = 3646.829206; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3646.829206 # Seafloor depth: -3696.829206 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.413164 meters # Minimum depth: 3703.055277 meters looking forward 100.000000 meters along route # Maximum depth: 3704.797260 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3653.055277 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.951263; longitude = -108.859700; duration = 401; initialDepth = 3651.984417; finalDepth = 3653.055277; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3653.055277 # Seafloor depth: -3703.055277 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 108.322640 meters # Minimum depth: 3701.984417 meters looking forward 100.000000 meters along route # Maximum depth: 3703.858934 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3651.984417 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.950959; longitude = -108.858771; duration = 433; initialDepth = 3654.011751; finalDepth = 3651.984417; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7483219999999 # Actual altitude: 51.7483219999999 # Commanded vehicle depth: 3651.984417 # Seafloor depth: -3703.732739 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 104.061838 meters # Minimum depth: 3704.011751 meters looking forward 100.000000 meters along route # Maximum depth: 3710.011701 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3654.011751 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.950631; longitude = -108.857768; duration = 416; initialDepth = 3660.418321; finalDepth = 3654.011751; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7483219999999 # Actual altitude: 51.7483219999999 # Commanded vehicle depth: 3654.011751 # Seafloor depth: -3704.011751 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 106.192675 meters # Minimum depth: 3710.418321 meters looking forward 100.000000 meters along route # Maximum depth: 3711.929322 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3660.418321 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.950316; longitude = -108.856805; duration = 424; initialDepth = 3661.963926; finalDepth = 3660.418321; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3660.418321 # Seafloor depth: -3710.418321 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 106.192966 meters # Minimum depth: 3711.963926 meters looking forward 100.000000 meters along route # Maximum depth: 3715.649966 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3661.963926 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.949995; longitude = -108.855823; duration = 424; initialDepth = 3665.873942; finalDepth = 3661.963926; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3661.963926 # Seafloor depth: -3711.963926 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 101.027497 meters # Minimum depth: 3715.873942 meters looking forward 100.000000 meters along route # Maximum depth: 3716.275827 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3665.873942 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.949673; longitude = -108.854840; duration = 404; initialDepth = 3665.908745; finalDepth = 3665.873942; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3665.873942 # Seafloor depth: -3715.873942 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.739939 meters # Minimum depth: 3715.908745 meters looking forward 100.000000 meters along route # Maximum depth: 3716.726517 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3665.908745 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.949367; longitude = -108.853905; duration = 402; initialDepth = 3667.141211; finalDepth = 3665.908745; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2140709999999 # Actual altitude: 50.2140709999999 # Commanded vehicle depth: 3665.908745 # Seafloor depth: -3716.122816 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.999233 meters # Minimum depth: 3717.141211 meters looking forward 100.000000 meters along route # Maximum depth: 3720.657310 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3667.141211 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.949062; longitude = -108.852973; duration = 431; initialDepth = 3665.026037; finalDepth = 3667.141211; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2140709999999 # Actual altitude: 50.2140709999999 # Commanded vehicle depth: 3667.141211 # Seafloor depth: -3717.141211 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 104.388675 meters # Minimum depth: 3715.026037 meters looking forward 100.000000 meters along route # Maximum depth: 3720.852959 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3665.026037 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.948735; longitude = -108.851974; duration = 417; initialDepth = 3655.985703; finalDepth = 3665.026037; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.6566170000001 # Actual altitude: 55.6566170000001 # Commanded vehicle depth: 3665.026037 # Seafloor depth: -3720.682654 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 106.194391 meters # Minimum depth: 3705.985703 meters looking forward 100.000000 meters along route # Maximum depth: 3713.117804 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3655.985703 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.948419; longitude = -108.851008; duration = 424; initialDepth = 3661.165850; finalDepth = 3655.985703; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.1321010000001 # Actual altitude: 57.1321010000001 # Commanded vehicle depth: 3655.985703 # Seafloor depth: -3713.117804 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 106.194681 meters # Minimum depth: 3711.165850 meters looking forward 100.000000 meters along route # Maximum depth: 3737.699153 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3661.165850 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.948098; longitude = -108.850025; duration = 424; initialDepth = 3689.375978; finalDepth = 3661.165850; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.1321010000001 # Actual altitude: 57.1321010000001 # Commanded vehicle depth: 3661.16585 # Seafloor depth: -3711.165850 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.703970 meters # Minimum depth: 3739.375978 meters looking forward 100.000000 meters along route # Maximum depth: 3741.912392 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3689.375978 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.947776; longitude = -108.849043; duration = 402; initialDepth = 3690.867171; finalDepth = 3689.375978; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3689.375978 # Seafloor depth: -3739.375978 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 101.066726 meters # Minimum depth: 3740.867171 meters looking forward 100.000000 meters along route # Maximum depth: 3743.307970 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3690.867171 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.947471; longitude = -108.848111; duration = 404; initialDepth = 3693.842040; finalDepth = 3690.867171; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0336390000002 # Actual altitude: 50.0336390000002 # Commanded vehicle depth: 3690.867171 # Seafloor depth: -3740.900810 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.675818 meters # Minimum depth: 3743.842040 meters looking forward 100.000000 meters along route # Maximum depth: 3747.184094 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3693.842040 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.947165; longitude = -108.847176; duration = 430; initialDepth = 3697.206448; finalDepth = 3693.842040; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0336390000002 # Actual altitude: 50.0336390000002 # Commanded vehicle depth: 3693.84204 # Seafloor depth: -3743.842040 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 104.715522 meters # Minimum depth: 3747.206448 meters looking forward 100.000000 meters along route # Maximum depth: 3751.859302 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3697.206448 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.946839; longitude = -108.846179; duration = 418; initialDepth = 3702.907604; finalDepth = 3697.206448; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3697.206448 # Seafloor depth: -3747.206448 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 106.196107 meters # Minimum depth: 3752.907604 meters looking forward 100.000000 meters along route # Maximum depth: 3762.076349 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3702.907604 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.946522; longitude = -108.845210; duration = 424; initialDepth = 3712.167854; finalDepth = 3702.907604; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3702.907604 # Seafloor depth: -3752.907604 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 106.196398 meters # Minimum depth: 3762.167854 meters looking forward 100.000000 meters along route # Maximum depth: 3763.358524 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3712.167854 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.946201; longitude = -108.844228; duration = 424; initialDepth = 3705.152071; finalDepth = 3712.167854; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3712.167854 # Seafloor depth: -3762.167854 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.380432 meters # Minimum depth: 3755.152071 meters looking forward 100.000000 meters along route # Maximum depth: 3761.689238 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3705.152071 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.945879; longitude = -108.843245; duration = 401; initialDepth = 3699.873170; finalDepth = 3705.152071; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.537167 # Actual altitude: 56.537167 # Commanded vehicle depth: 3705.152071 # Seafloor depth: -3761.689238 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 101.393525 meters # Minimum depth: 3749.873170 meters looking forward 100.000000 meters along route # Maximum depth: 3754.798013 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3699.873170 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.945575; longitude = -108.842316; duration = 405; initialDepth = 3700.401959; finalDepth = 3699.873170; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.537167 # Actual altitude: 56.537167 # Commanded vehicle depth: 3699.87317 # Seafloor depth: -3754.798013 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.352392 meters # Minimum depth: 3750.401959 meters looking forward 100.000000 meters along route # Maximum depth: 3757.261135 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3700.401959 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.945268; longitude = -108.841378; duration = 429; initialDepth = 3707.295187; finalDepth = 3700.401959; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.9248430000002 # Actual altitude: 54.9248430000002 # Commanded vehicle depth: 3700.401959 # Seafloor depth: -3750.401959 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 105.042382 meters # Minimum depth: 3757.295187 meters looking forward 100.000000 meters along route # Maximum depth: 3761.160282 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3707.295187 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.944943; longitude = -108.840385; duration = 420; initialDepth = 3711.943192; finalDepth = 3707.295187; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3707.295187 # Seafloor depth: -3757.295187 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 106.197824 meters # Minimum depth: 3761.943192 meters looking forward 100.000000 meters along route # Maximum depth: 3764.054194 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3711.943192 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.944625; longitude = -108.839413; duration = 424; initialDepth = 3713.641975; finalDepth = 3711.943192; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3711.943192 # Seafloor depth: -3761.943192 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 106.198115 meters # Minimum depth: 3763.641975 meters looking forward 100.000000 meters along route # Maximum depth: 3765.561897 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3713.641975 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.944304; longitude = -108.838430; duration = 424; initialDepth = 3715.623378; finalDepth = 3713.641975; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3713.641975 # Seafloor depth: -3763.641975 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 106.198405 meters # Minimum depth: 3765.623378 meters looking forward 100.000000 meters along route # Maximum depth: 3766.283497 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3715.623378 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.943982; longitude = -108.837448; duration = 424; initialDepth = 3712.086544; finalDepth = 3715.623378; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3715.623378 # Seafloor depth: -3765.623378 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 106.198698 meters # Minimum depth: 3762.086544 meters looking forward 100.000000 meters along route # Maximum depth: 3766.129599 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3712.086544 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.943661; longitude = -108.836465; duration = 424; initialDepth = 3711.476370; finalDepth = 3712.086544; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0430550000001 # Actual altitude: 54.0430550000001 # Commanded vehicle depth: 3712.086544 # Seafloor depth: -3766.129599 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 106.198988 meters # Minimum depth: 3761.476370 meters looking forward 100.000000 meters along route # Maximum depth: 3762.716028 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3711.476370 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.943339; longitude = -108.835482; duration = 424; initialDepth = 3711.588031; finalDepth = 3711.476370; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0430550000001 # Actual altitude: 54.0430550000001 # Commanded vehicle depth: 3711.47637 # Seafloor depth: -3761.817939 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 106.199279 meters # Minimum depth: 3761.588031 meters looking forward 100.000000 meters along route # Maximum depth: 3763.528522 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3711.588031 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.943017; longitude = -108.834500; duration = 424; initialDepth = 3708.429901; finalDepth = 3711.588031; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3370910000003 # Actual altitude: 51.3370910000003 # Commanded vehicle depth: 3711.588031 # Seafloor depth: -3762.925122 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 102.696992 meters # Minimum depth: 3758.429901 meters looking forward 100.000000 meters along route # Maximum depth: 3761.520827 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3708.429901 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.942696; longitude = -108.833517; duration = 410; initialDepth = 3711.765442; finalDepth = 3708.429901; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.3111429999999 # Actual altitude: 52.3111429999999 # Commanded vehicle depth: 3708.429901 # Seafloor depth: -3760.741044 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.16; 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 163.436290 meters # Minimum depth: 3761.765442 meters looking forward 100.000000 meters along route # Maximum depth: 3768.664069 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3711.765442 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.942385; longitude = -108.832567; duration = 653; # abortOnTimeout = True; initialDepth = 3718.080933; finalDepth = 3711.765442; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.3111429999999 # Actual altitude: 52.3111429999999 # Commanded vehicle depth: 3711.765442 # Seafloor depth: -3761.765442 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.16; 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 80.204084 meters # Minimum depth: 3768.080933 meters looking forward 100.000000 meters along route # Maximum depth: 3773.545687 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3718.080933 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.943799; longitude = -108.832109; duration = 320; # abortOnTimeout = True; initialDepth = 3719.560744; finalDepth = 3718.080933; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3718.080933 # Seafloor depth: -3768.080933 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 103.699393 meters # Minimum depth: 3769.560744 meters looking forward 100.000000 meters along route # Maximum depth: 3773.780391 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3719.560744 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.944040; longitude = -108.832852; duration = 414; initialDepth = 3719.224957; finalDepth = 3719.560744; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0440050000002 # Actual altitude: 54.0440050000002 # Commanded vehicle depth: 3719.560744 # Seafloor depth: -3773.604749 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 106.414021 meters # Minimum depth: 3769.224957 meters looking forward 100.000000 meters along route # Maximum depth: 3772.309612 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3719.224957 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.944352; longitude = -108.833812; duration = 425; initialDepth = 3722.314807; finalDepth = 3719.224957; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0440050000002 # Actual altitude: 54.0440050000002 # Commanded vehicle depth: 3719.224957 # Seafloor depth: -3769.304854 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 105.807656 meters # Minimum depth: 3772.314807 meters looking forward 100.000000 meters along route # Maximum depth: 3773.283175 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3722.314807 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.944672; longitude = -108.834797; duration = 423; initialDepth = 3721.018918; finalDepth = 3722.314807; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0798970000001 # Actual altitude: 50.0798970000001 # Commanded vehicle depth: 3722.314807 # Seafloor depth: -3772.314807 # 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 1 # Segment length 106.110404 meters # Minimum depth: 3771.018918 meters looking forward 100.000000 meters along route # Maximum depth: 3772.734950 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3721.018918 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.944991; longitude = -108.835777; duration = 424; initialDepth = 3721.271877; finalDepth = 3721.018918; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7160319999998 # Actual altitude: 51.7160319999998 # Commanded vehicle depth: 3721.018918 # Seafloor depth: -3772.734950 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 106.110114 meters # Minimum depth: 3771.271877 meters looking forward 100.000000 meters along route # Maximum depth: 3773.651239 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3721.271877 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.945310; longitude = -108.836760; duration = 424; initialDepth = 3721.213334; finalDepth = 3721.271877; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7160319999998 # Actual altitude: 51.7160319999998 # Commanded vehicle depth: 3721.271877 # Seafloor depth: -3771.271877 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 106.109825 meters # Minimum depth: 3771.213334 meters looking forward 100.000000 meters along route # Maximum depth: 3774.364070 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3721.213334 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.945629; longitude = -108.837743; duration = 424; initialDepth = 3717.669890; finalDepth = 3721.213334; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7919569999999 # Actual altitude: 52.7919569999999 # Commanded vehicle depth: 3721.213334 # Seafloor depth: -3774.005291 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 106.109535 meters # Minimum depth: 3767.669890 meters looking forward 100.000000 meters along route # Maximum depth: 3770.958679 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3717.669890 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.945948; longitude = -108.838725; duration = 424; initialDepth = 3717.677705; finalDepth = 3717.669890; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2887889999997 # Actual altitude: 53.2887889999997 # Commanded vehicle depth: 3717.66989 # Seafloor depth: -3770.958679 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.085895 meters # Minimum depth: 3767.677705 meters looking forward 100.000000 meters along route # Maximum depth: 3768.298925 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3717.677705 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.946267; longitude = -108.839708; duration = 400; initialDepth = 3716.587683; finalDepth = 3717.677705; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2887889999997 # Actual altitude: 53.2887889999997 # Commanded vehicle depth: 3717.677705 # Seafloor depth: -3767.677705 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.521425 meters # Minimum depth: 3766.587683 meters looking forward 100.000000 meters along route # Maximum depth: 3768.000122 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3716.587683 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.946568; longitude = -108.840635; duration = 406; initialDepth = 3716.295170; finalDepth = 3716.587683; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4124389999997 # Actual altitude: 51.4124389999997 # Commanded vehicle depth: 3716.587683 # Seafloor depth: -3768.000122 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 108.587447 meters # Minimum depth: 3766.295170 meters looking forward 100.000000 meters along route # Maximum depth: 3767.197644 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3716.295170 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.946874; longitude = -108.841575; duration = 434; initialDepth = 3714.891055; finalDepth = 3716.295170; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4124389999997 # Actual altitude: 51.4124389999997 # Commanded vehicle depth: 3716.29517 # Seafloor depth: -3766.490464 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 103.629654 meters # Minimum depth: 3764.891055 meters looking forward 100.000000 meters along route # Maximum depth: 3767.309294 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3714.891055 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.947200; longitude = -108.842580; duration = 414; initialDepth = 3707.248884; finalDepth = 3714.891055; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3345789999998 # Actual altitude: 52.3345789999998 # Commanded vehicle depth: 3714.891055 # Seafloor depth: -3767.225634 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 106.478084 meters # Minimum depth: 3757.248884 meters looking forward 100.000000 meters along route # Maximum depth: 3764.370099 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3707.248884 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.947512; longitude = -108.843540; duration = 425; initialDepth = 3702.549103; finalDepth = 3707.248884; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.1212150000001 # Actual altitude: 57.1212150000001 # Commanded vehicle depth: 3707.248884 # Seafloor depth: -3764.370099 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 105.737861 meters # Minimum depth: 3752.549103 meters looking forward 100.000000 meters along route # Maximum depth: 3757.224650 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3702.549103 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.947832; longitude = -108.844526; duration = 422; initialDepth = 3699.433749; finalDepth = 3702.549103; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.1212150000001 # Actual altitude: 57.1212150000001 # Commanded vehicle depth: 3702.549103 # Seafloor depth: -3757.224650 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 106.107538 meters # Minimum depth: 3749.433749 meters looking forward 100.000000 meters along route # Maximum depth: 3752.277781 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3699.433749 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.948150; longitude = -108.845505; duration = 424; initialDepth = 3698.317969; finalDepth = 3699.433749; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.6755470000003 # Actual altitude: 54.6755470000003 # Commanded vehicle depth: 3699.433749 # Seafloor depth: -3752.277781 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 106.107248 meters # Minimum depth: 3748.317969 meters looking forward 100.000000 meters along route # Maximum depth: 3749.402956 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3698.317969 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.948470; longitude = -108.846488; duration = 424; initialDepth = 3694.967947; finalDepth = 3698.317969; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.844032 # Actual altitude: 52.844032 # Commanded vehicle depth: 3698.317969 # Seafloor depth: -3749.402956 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 106.106960 meters # Minimum depth: 3744.967947 meters looking forward 100.000000 meters along route # Maximum depth: 3748.145312 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3694.967947 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.948789; longitude = -108.847470; duration = 424; initialDepth = 3684.169893; finalDepth = 3694.967947; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.177365 # Actual altitude: 53.177365 # Commanded vehicle depth: 3694.967947 # Seafloor depth: -3748.145312 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 106.106669 meters # Minimum depth: 3734.169893 meters looking forward 100.000000 meters along route # Maximum depth: 3744.714349 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3684.169893 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.949108; longitude = -108.848453; duration = 424; initialDepth = 3671.058813; finalDepth = 3684.169893; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.5444560000001 # Actual altitude: 60.5444560000001 # Commanded vehicle depth: 3684.169893 # Seafloor depth: -3744.714349 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.150128 meters # Minimum depth: 3721.058813 meters looking forward 100.000000 meters along route # Maximum depth: 3732.477692 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3671.058813 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.949427; longitude = -108.849436; duration = 400; initialDepth = 3669.673287; finalDepth = 3671.058813; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.4188789999998 # Actual altitude: 61.4188789999998 # Commanded vehicle depth: 3671.058813 # Seafloor depth: -3732.477692 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.451748 meters # Minimum depth: 3719.673287 meters looking forward 100.000000 meters along route # Maximum depth: 3721.408673 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3669.673287 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.949728; longitude = -108.850363; duration = 405; initialDepth = 3664.846674; finalDepth = 3669.673287; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.4188789999998 # Actual altitude: 61.4188789999998 # Commanded vehicle depth: 3669.673287 # Seafloor depth: -3721.021318 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 108.651451 meters # Minimum depth: 3714.846674 meters looking forward 100.000000 meters along route # Maximum depth: 3718.881895 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3664.846674 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.950034; longitude = -108.851303; duration = 434; initialDepth = 3666.542411; finalDepth = 3664.846674; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0352210000001 # Actual altitude: 54.0352210000001 # Commanded vehicle depth: 3664.846674 # Seafloor depth: -3718.881895 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 103.559922 meters # Minimum depth: 3716.542411 meters looking forward 100.000000 meters along route # Maximum depth: 3723.481708 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3666.542411 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.950360; longitude = -108.852309; duration = 414; initialDepth = 3671.524506; finalDepth = 3666.542411; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0352210000001 # Actual altitude: 54.0352210000001 # Commanded vehicle depth: 3666.542411 # Seafloor depth: -3716.542411 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 106.542144 meters # Minimum depth: 3721.524506 meters looking forward 100.000000 meters along route # Maximum depth: 3723.716866 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3671.524506 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.950672; longitude = -108.853268; duration = 426; initialDepth = 3668.954835; finalDepth = 3671.524506; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1079339999997 # Actual altitude: 52.1079339999997 # Commanded vehicle depth: 3671.524506 # Seafloor depth: -3723.632440 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 105.668073 meters # Minimum depth: 3718.954835 meters looking forward 100.000000 meters along route # Maximum depth: 3721.509133 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3668.954835 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.950992; longitude = -108.854255; duration = 422; initialDepth = 3662.624515; finalDepth = 3668.954835; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.554298 # Actual altitude: 52.554298 # Commanded vehicle depth: 3668.954835 # Seafloor depth: -3721.509133 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 106.104674 meters # Minimum depth: 3712.624515 meters looking forward 100.000000 meters along route # Maximum depth: 3718.632200 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3662.624515 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.951310; longitude = -108.855233; duration = 424; initialDepth = 3656.241545; finalDepth = 3662.624515; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.007685 # Actual altitude: 56.007685 # Commanded vehicle depth: 3662.624515 # Seafloor depth: -3718.632200 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 106.104385 meters # Minimum depth: 3706.241545 meters looking forward 100.000000 meters along route # Maximum depth: 3712.488505 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3656.241545 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.951629; longitude = -108.856216; duration = 424; initialDepth = 3656.392094; finalDepth = 3656.241545; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.2469599999999 # Actual altitude: 56.2469599999999 # Commanded vehicle depth: 3656.241545 # Seafloor depth: -3712.488505 # 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 1 # Segment length 106.104096 meters # Minimum depth: 3706.392094 meters looking forward 100.000000 meters along route # Maximum depth: 3711.769023 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3656.392094 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.951949; longitude = -108.857198; duration = 424; initialDepth = 3658.857690; finalDepth = 3656.392094; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.2469599999999 # Actual altitude: 56.2469599999999 # Commanded vehicle depth: 3656.392094 # Seafloor depth: -3706.392094 # 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 1 # Segment length 106.103807 meters # Minimum depth: 3708.857690 meters looking forward 100.000000 meters along route # Maximum depth: 3712.163814 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3658.857690 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.952268; longitude = -108.858181; duration = 424; initialDepth = 3647.815005; finalDepth = 3658.857690; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0202200000003 # Actual altitude: 53.0202200000003 # Commanded vehicle depth: 3658.85769 # Seafloor depth: -3711.877910 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.214359 meters # Minimum depth: 3697.815005 meters looking forward 100.000000 meters along route # Maximum depth: 3707.829664 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3647.815005 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.952587; longitude = -108.859164; duration = 400; initialDepth = 3640.068016; finalDepth = 3647.815005; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.0146589999999 # Actual altitude: 60.0146589999999 # Commanded vehicle depth: 3647.815005 # Seafloor depth: -3707.829664 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.382079 meters # Minimum depth: 3690.068016 meters looking forward 100.000000 meters along route # Maximum depth: 3697.523755 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3640.068016 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.952888; longitude = -108.860092; duration = 405; initialDepth = 3628.741091; finalDepth = 3640.068016; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.0146589999999 # Actual altitude: 60.0146589999999 # Commanded vehicle depth: 3640.068016 # Seafloor depth: -3697.523755 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 106.102968 meters # Minimum depth: 3678.741091 meters looking forward 100.000000 meters along route # Maximum depth: 3688.979301 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3628.741091 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.953193; longitude = -108.861031; duration = 424; initialDepth = 3610.580024; finalDepth = 3628.741091; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.23821 # Actual altitude: 60.23821 # Commanded vehicle depth: 3628.741091 # Seafloor depth: -3688.979301 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.542963 meters # Minimum depth: 3660.580024 meters looking forward 100.000000 meters along route # Maximum depth: 3677.393565 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3749.814807 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3610.580024 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.953513; longitude = -108.862013; duration = 410; initialDepth = 3609.435181; finalDepth = 3610.580024; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 66.813541 # Actual altitude: 66.813541 # Commanded vehicle depth: 3610.580024 # Seafloor depth: -3677.393565 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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: 66.813541 # Sonar parameter altitude: 66.813541 # Commanded vehicle depth: 3609.435181 # Seafloor depth: -3659.435181 # 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 = 42; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 33.41; 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 102.542963 meters # Minimum depth: 3659.435181 meters looking forward 100.000000 meters along route # Maximum depth: 3677.055631 meters looking forward 100.000000 meters along route # Vehicle depth: 3609.435181 meters behavior waypoint { latitude = 23.953821; longitude = -108.862963; duration = 7218; depth = 3609.435181; 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 3609.435181 meters set by local depth and desired altitude behavior descend { duration = 13163; horizontalMode = rudder; horizontal = 2.000000; pitch = -35.000000; speed = 1.500000; maxDepth = 3599.435181; 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 102.542963 meters # Minimum depth: 3659.435181 meters looking forward 100.000000 meters along route # Maximum depth: 3677.055631 meters looking forward 100.000000 meters along route # Vehicle depth: 50.000000 meters behavior waypoint { latitude = 23.953821; longitude = -108.862963; duration = 2000; depth = 50.000000; speed = 1.500000; } ####################################################### # Acoustic update 6 - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 180.0; pitch = -35.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 45.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 180.0; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 300.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 42; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.00; 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; } # ####################################################### ####################################################### ####################################################### #######################################################