# 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_4v4.rte # Mission File: 2018PB_4v4.cfg # Distance: 43006.152700 (m) # Estimated Time: 33242 (s) 9.234 (hr) # Abort Time: 49864 (s) # Max battery life: 79200 (s) # Safety margin: 900 (s) # Ascend time: 5532 (s) # Way Points: 53 # Route Points: 414 # 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: 3750.249731 (m) # Abort Vehicle Depth: 3772.749731 (m) # Descent Vehicle Depth: 3 (m) # Spiral descent depth: 3630.692444 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 -108.861293 23.955988 -3690.692444 0.000000 3 # 1 -108.859033 23.949668 -3699.184021 736.955947 3 # 2 -108.857231 23.929745 -3628.738281 2951.600504 3 # 3 -108.856249 23.929835 -3634.591797 3052.089471 3 # 4 -108.858050 23.949758 -3702.033203 5266.726801 3 # 5 -108.857067 23.949849 -3707.376831 5367.312715 3 # 6 -108.855200 23.929895 -3642.927856 7585.939312 3 # 7 -108.854185 23.930016 -3653.100220 7690.158295 3 # 8 -108.856183 23.949939 -3710.671997 9906.549019 3 # 9 -108.855299 23.950029 -3714.365173 9997.099800 3 # 10 -108.854218 23.939195 -3692.729187 11202.308227 3 # 11 -108.859131 23.938834 -3653.799744 11704.139886 3 # 12 -108.859983 23.949157 -3692.935547 12850.986874 3 # 13 -108.868761 23.963572 -3670.330994 14680.896359 3 # 14 -108.871676 23.964505 -3660.039673 14995.122908 3 # 15 -108.871676 23.965408 -3655.339478 15095.155060 3 # 16 -108.863324 23.962700 -3701.163269 15996.746834 3 # 17 -108.863029 23.963602 -3702.302856 16101.083887 3 # 18 -108.871676 23.966401 -3651.634827 17034.343460 3 # 19 -108.871774 23.967395 -3635.149780 17144.907374 3 # 20 -108.861784 23.964204 -3712.039856 18221.546441 3 # 21 -108.861391 23.965017 -3712.058716 18320.095032 3 # 22 -108.872003 23.968448 -3614.662659 19465.271883 3 # 23 -108.871774 23.969291 -3615.745789 19561.522894 3 # 24 -108.860965 23.965769 -3710.609680 20728.960001 3 # 25 -108.860605 23.966642 -3710.514221 20832.380079 3 # 26 -108.871826 23.970288 -3618.130432 22043.929153 3 # 27 -108.871504 23.971141 -3639.059387 22143.945884 3 # 28 -108.858009 23.966838 -3717.704956 23598.019432 3 # 29 -108.857687 23.967690 -3715.841248 23697.932513 3 # 30 -108.871182 23.971994 -3652.480225 25152.034105 3 # 31 -108.870860 23.972847 -3665.529419 25252.050748 3 # 32 -108.857365 23.968543 -3717.426392 26706.144061 3 # 33 -108.857043 23.969396 -3720.303101 26806.161708 3 # 34 -108.870824 23.973775 -3673.882080 28290.474702 3 # 35 -108.870497 23.974617 -3682.378784 28389.510672 3 # 36 -108.856721 23.970249 -3723.654480 29872.936332 3 # 37 -108.856399 23.971102 -3730.353943 29972.953891 3 # 38 -108.870235 23.975490 -3690.750122 31462.867098 3 # 39 -108.869907 23.976333 -3691.960876 31562.041532 3 # 40 -108.856076 23.971954 -3734.336426 33051.140119 3 # 41 -108.855754 23.972807 -3740.308533 33151.157590 3 # 42 -108.869449 23.977206 -3703.629028 34627.895867 3 # 43 -108.869121 23.978048 -3703.990417 34726.965907 3 # 44 -108.855432 23.973660 -3751.513489 36202.717505 3 # 45 -108.855110 23.974513 -3758.127441 36302.734889 3 # 46 -108.868826 23.978861 -3705.437561 37779.622408 3 # 47 -108.868564 23.979734 -3700.763733 37879.941123 3 # 48 -108.854788 23.975365 -3769.477905 39363.352180 3 # 49 -108.854513 23.976122 -3775.758057 39451.760239 3 # 50 -108.864994 23.979493 -3728.685242 40582.071447 3 # 51 -108.869416 23.963783 -3668.532715 42379.662213 3 # 52 -108.863618 23.961887 -3695.724487 43006.152700 4 # # A total of 414 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 49864; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 3750.249731; abortDepth = 3772.749731; 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 = 5532; 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 52 # Segment length 92.051336 meters # Minimum depth: 3688.565669 meters looking forward 100.000000 meters along route # Maximum depth: 3695.724487 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3638.565669 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.961887; longitude = -108.863618; duration = 368; # abortOnTimeout = True; initialDepth = 3636.719193; finalDepth = 3638.565669; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.1588179999999 # Actual altitude: 57.1588179999999 # Commanded vehicle depth: 3638.565669 # Seafloor depth: -3695.724487 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 106.175901 meters # Minimum depth: 3686.719193 meters looking forward 100.000000 meters along route # Maximum depth: 3688.125056 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3636.719193 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.962166; longitude = -108.864470; duration = 424; initialDepth = 3629.747859; finalDepth = 3636.719193; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.1588179999999 # Actual altitude: 57.1588179999999 # Commanded vehicle depth: 3636.719193 # Seafloor depth: -3688.125056 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 110.049255 meters # Minimum depth: 3679.747859 meters looking forward 100.000000 meters along route # Maximum depth: 3686.527262 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3629.747859 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.962487; longitude = -108.865453; duration = 440; initialDepth = 3627.212433; finalDepth = 3629.747859; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.779403 # Actual altitude: 56.779403 # Commanded vehicle depth: 3629.747859 # Seafloor depth: -3686.527262 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 102.301677 meters # Minimum depth: 3677.212433 meters looking forward 100.000000 meters along route # Maximum depth: 3679.498464 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3627.212433 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.962820; longitude = -108.866471; duration = 409; initialDepth = 3623.014821; finalDepth = 3627.212433; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.779403 # Actual altitude: 56.779403 # Commanded vehicle depth: 3627.212433 # Seafloor depth: -3679.498464 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 106.531083 meters # Minimum depth: 3673.014821 meters looking forward 100.000000 meters along route # Maximum depth: 3677.077630 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3623.014821 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.963130; longitude = -108.867418; duration = 426; initialDepth = 3618.219376; finalDepth = 3623.014821; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.062809 # Actual altitude: 54.062809 # Commanded vehicle depth: 3623.014821 # Seafloor depth: -3677.077630 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 109.381235 meters # Minimum depth: 3668.219376 meters looking forward 100.000000 meters along route # Maximum depth: 3672.999549 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3618.219376 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.963452; longitude = -108.868404; duration = 437; initialDepth = 3584.443120; finalDepth = 3618.219376; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.7801730000001 # Actual altitude: 54.7801730000001 # Commanded vehicle depth: 3618.219376 # Seafloor depth: -3672.999549 # 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; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 51 # Segment length 137.748588 meters # Minimum depth: 3634.443120 meters looking forward 100.000000 meters along route # Maximum depth: 3668.532715 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3584.443120 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.963783; longitude = -108.869416; duration = 550; # abortOnTimeout = True; initialDepth = 3569.553519; finalDepth = 3584.443120; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.0895949999999 # Actual altitude: 84.0895949999999 # Commanded vehicle depth: 3584.44312 # Seafloor depth: -3668.532715 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 103.309625 meters # Minimum depth: 3619.553519 meters looking forward 100.000000 meters along route # Maximum depth: 3633.324089 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3569.553519 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.964987; longitude = -108.869077; duration = 413; initialDepth = 3561.018272; finalDepth = 3569.553519; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.0895949999999 # Actual altitude: 84.0895949999999 # Commanded vehicle depth: 3569.553519 # Seafloor depth: -3633.324089 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 103.309604 meters # Minimum depth: 3611.018272 meters looking forward 100.000000 meters along route # Maximum depth: 3618.375214 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3561.018272 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.965890; longitude = -108.868823; duration = 413; initialDepth = 3540.570450; finalDepth = 3561.018272; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.7705700000001 # Actual altitude: 63.7705700000001 # Commanded vehicle depth: 3561.018272 # Seafloor depth: -3618.375214 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 103.309583 meters # Minimum depth: 3590.570450 meters looking forward 100.000000 meters along route # Maximum depth: 3610.365762 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3540.570450 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.966793; longitude = -108.868569; duration = 413; initialDepth = 3522.527145; finalDepth = 3540.570450; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.7953119999997 # Actual altitude: 69.7953119999997 # Commanded vehicle depth: 3540.57045 # Seafloor depth: -3610.365762 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 103.309564 meters # Minimum depth: 3572.527145 meters looking forward 100.000000 meters along route # Maximum depth: 3587.679328 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3522.527145 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.967695; longitude = -108.868315; duration = 413; initialDepth = 3516.680304; finalDepth = 3522.527145; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.7953119999997 # Actual altitude: 69.7953119999997 # Commanded vehicle depth: 3522.527145 # Seafloor depth: -3587.679328 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 103.309543 meters # Minimum depth: 3566.680304 meters looking forward 100.000000 meters along route # Maximum depth: 3571.443250 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3516.680304 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.968598; longitude = -108.868061; duration = 413; initialDepth = 3517.242771; finalDepth = 3516.680304; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.1521830000002 # Actual altitude: 65.1521830000002 # Commanded vehicle depth: 3516.680304 # Seafloor depth: -3571.443250 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 103.309523 meters # Minimum depth: 3567.242771 meters looking forward 100.000000 meters along route # Maximum depth: 3575.096428 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3517.242771 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.969501; longitude = -108.867806; duration = 413; initialDepth = 3526.402929; finalDepth = 3517.242771; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7629459999998 # Actual altitude: 54.7629459999998 # Commanded vehicle depth: 3517.242771 # Seafloor depth: -3567.242771 # 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 51 # Segment length 103.309503 meters # Minimum depth: 3576.402929 meters looking forward 100.000000 meters along route # Maximum depth: 3601.090154 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3526.402929 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.970404; longitude = -108.867552; duration = 413; initialDepth = 3554.084626; finalDepth = 3526.402929; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3526.402929 # Seafloor depth: -3576.402929 # 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 51 # Segment length 103.309482 meters # Minimum depth: 3604.219575 meters looking forward 100.000000 meters along route # Maximum depth: 3631.769428 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3554.084626 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.971307; longitude = -108.867298; duration = 413; initialDepth = 3581.766318; finalDepth = 3554.084626; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1349485951741 # Actual altitude: 50.1349485951741 # Commanded vehicle depth: 3554.08462640483 # Seafloor depth: -3604.219575 # 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 51 # Segment length 103.309462 meters # Minimum depth: 3634.553901 meters looking forward 100.000000 meters along route # Maximum depth: 3661.989868 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3581.766318 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.972210; longitude = -108.867044; duration = 413; initialDepth = 3609.448005; finalDepth = 3581.766318; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7875828172828 # Actual altitude: 52.7875828172828 # Commanded vehicle depth: 3581.76631818272 # Seafloor depth: -3634.553901 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 104.267410 meters # Minimum depth: 3665.153309 meters looking forward 100.000000 meters along route # Maximum depth: 3696.009401 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3609.448005 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.973113; longitude = -108.866790; duration = 417; initialDepth = 3637.386372; finalDepth = 3609.448005; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.7053043983747 # Actual altitude: 55.7053043983747 # Commanded vehicle depth: 3609.44800460163 # Seafloor depth: -3665.153309 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 102.351454 meters # Minimum depth: 3696.188210 meters looking forward 100.000000 meters along route # Maximum depth: 3704.900731 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3637.386372 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.974024; longitude = -108.866533; duration = 409; initialDepth = 3654.509974; finalDepth = 3637.386372; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.8018375910601 # Actual altitude: 58.8018375910601 # Commanded vehicle depth: 3637.38637240894 # Seafloor depth: -3696.188210 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 103.309401 meters # Minimum depth: 3704.509974 meters looking forward 100.000000 meters along route # Maximum depth: 3705.255403 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3654.509974 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.974918; longitude = -108.866282; duration = 413; initialDepth = 3655.059049; finalDepth = 3654.509974; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.8018375910601 # Actual altitude: 58.8018375910601 # Commanded vehicle depth: 3654.509974 # Seafloor depth: -3705.195156 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 103.309381 meters # Minimum depth: 3705.059049 meters looking forward 100.000000 meters along route # Maximum depth: 3719.034237 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3655.059049 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.975821; longitude = -108.866027; duration = 413; initialDepth = 3670.016949; finalDepth = 3655.059049; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6851820000002 # Actual altitude: 50.6851820000002 # Commanded vehicle depth: 3655.059049 # Seafloor depth: -3705.059049 # 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 51 # Segment length 103.309361 meters # Minimum depth: 3720.016949 meters looking forward 100.000000 meters along route # Maximum depth: 3721.451891 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3670.016949 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.976724; longitude = -108.865773; duration = 413; initialDepth = 3671.151925; finalDepth = 3670.016949; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3670.016949 # Seafloor depth: -3720.016949 # 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 51 # Segment length 107.001855 meters # Minimum depth: 3721.151925 meters looking forward 100.000000 meters along route # Maximum depth: 3724.571392 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3671.151925 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.977627; longitude = -108.865519; duration = 428; initialDepth = 3674.728003; finalDepth = 3671.151925; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3671.151925 # Seafloor depth: -3721.151925 # 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 51 # Segment length 106.507427 meters # Minimum depth: 3724.728003 meters looking forward 100.000000 meters along route # Maximum depth: 3728.731978 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3674.728003 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.978562; longitude = -108.865256; duration = 426; initialDepth = 3678.685242; finalDepth = 3674.728003; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3674.728003 # Seafloor depth: -3724.728003 # 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 50 # Segment length 173.085415 meters # Minimum depth: 3728.685242 meters looking forward 100.000000 meters along route # Maximum depth: 3732.018857 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3678.685242 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.979493; longitude = -108.864994; duration = 692; # abortOnTimeout = True; initialDepth = 3680.648685; finalDepth = 3678.685242; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3678.685242 # Seafloor depth: -3728.685242 # 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 50 # Segment length 105.969127 meters # Minimum depth: 3730.648685 meters looking forward 100.000000 meters along route # Maximum depth: 3731.520477 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3680.648685 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.978977; longitude = -108.863389; duration = 423; initialDepth = 3680.177808; finalDepth = 3680.648685; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5771789999999 # Actual altitude: 50.5771789999999 # Commanded vehicle depth: 3680.648685 # Seafloor depth: -3731.225864 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 105.969413 meters # Minimum depth: 3730.177808 meters looking forward 100.000000 meters along route # Maximum depth: 3732.132865 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3680.177808 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.978661; longitude = -108.862406; duration = 423; initialDepth = 3678.534718; finalDepth = 3680.177808; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6168120000002 # Actual altitude: 51.6168120000002 # Commanded vehicle depth: 3680.177808 # Seafloor depth: -3731.794620 # 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 50 # Segment length 105.969701 meters # Minimum depth: 3728.534718 meters looking forward 100.000000 meters along route # Maximum depth: 3730.111550 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3678.534718 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.978345; longitude = -108.861424; duration = 423; initialDepth = 3677.936069; finalDepth = 3678.534718; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6168120000002 # Actual altitude: 51.6168120000002 # Commanded vehicle depth: 3678.534718 # Seafloor depth: -3730.111550 # 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 50 # Segment length 105.969988 meters # Minimum depth: 3727.936069 meters looking forward 100.000000 meters along route # Maximum depth: 3728.662561 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3677.936069 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.978029; longitude = -108.860441; duration = 423; initialDepth = 3677.963054; finalDepth = 3677.936069; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5768320000002 # Actual altitude: 51.5768320000002 # Commanded vehicle depth: 3677.936069 # Seafloor depth: -3728.584322 # 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 50 # Segment length 105.970275 meters # Minimum depth: 3727.963054 meters looking forward 100.000000 meters along route # Maximum depth: 3729.812430 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3677.963054 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.977713; longitude = -108.859459; duration = 423; initialDepth = 3679.913361; finalDepth = 3677.963054; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6482530000003 # Actual altitude: 50.6482530000003 # Commanded vehicle depth: 3677.963054 # Seafloor depth: -3727.963054 # 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 50 # Segment length 105.970562 meters # Minimum depth: 3729.913361 meters looking forward 100.000000 meters along route # Maximum depth: 3734.727685 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3679.913361 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.977397; longitude = -108.858476; duration = 423; initialDepth = 3684.950954; finalDepth = 3679.913361; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3679.913361 # Seafloor depth: -3729.913361 # 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 50 # Segment length 105.970850 meters # Minimum depth: 3734.950954 meters looking forward 100.000000 meters along route # Maximum depth: 3756.520770 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3684.950954 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.977081; longitude = -108.857493; duration = 423; initialDepth = 3708.874810; finalDepth = 3684.950954; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3684.950954 # Seafloor depth: -3734.950954 # 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 50 # Segment length 105.971137 meters # Minimum depth: 3758.874810 meters looking forward 100.000000 meters along route # Maximum depth: 3772.637153 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3708.874810 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.976765; longitude = -108.856511; duration = 423; initialDepth = 3722.749731; finalDepth = 3708.874810; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3708.87481 # Seafloor depth: -3758.874810 # 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 50 # Segment length 109.464740 meters # Minimum depth: 3772.749731 meters looking forward 100.000000 meters along route # Maximum depth: 3775.833804 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3722.749731 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.976448; longitude = -108.855528; duration = 437; initialDepth = 3719.929621; finalDepth = 3722.749731; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3722.749731 # Seafloor depth: -3772.749731 # 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 49 # Segment length 88.408059 meters # Minimum depth: 3769.929621 meters looking forward 100.000000 meters along route # Maximum depth: 3775.758057 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3719.929621 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.976122; longitude = -108.854513; duration = 353; # abortOnTimeout = True; initialDepth = 3712.591008; finalDepth = 3719.929621; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.8284359999998 # Actual altitude: 55.8284359999998 # Commanded vehicle depth: 3719.929621 # Seafloor depth: -3775.758057 # 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; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 48 # Segment length 132.592838 meters # Minimum depth: 3762.591008 meters looking forward 100.000000 meters along route # Maximum depth: 3769.477905 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3712.591008 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.975365; longitude = -108.854788; duration = 530; # abortOnTimeout = True; initialDepth = 3701.183066; finalDepth = 3712.591008; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.8868970000003 # Actual altitude: 56.8868970000003 # Commanded vehicle depth: 3712.591008 # Seafloor depth: -3769.477905 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 105.811365 meters # Minimum depth: 3751.183066 meters looking forward 100.000000 meters along route # Maximum depth: 3761.868158 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3701.183066 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.975756; longitude = -108.856019; duration = 423; initialDepth = 3683.363239; finalDepth = 3701.183066; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.6850920000002 # Actual altitude: 60.6850920000002 # Commanded vehicle depth: 3701.183066 # Seafloor depth: -3761.868158 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 100.459185 meters # Minimum depth: 3733.363239 meters looking forward 100.000000 meters along route # Maximum depth: 3749.585517 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3683.363239 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.976067; longitude = -108.857002; duration = 401; initialDepth = 3680.459452; finalDepth = 3683.363239; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.2222780000002 # Actual altitude: 66.2222780000002 # Commanded vehicle depth: 3683.363239 # Seafloor depth: -3749.585517 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 100.581625 meters # Minimum depth: 3730.459452 meters looking forward 100.000000 meters along route # Maximum depth: 3732.925328 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3680.459452 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.976363; longitude = -108.857935; duration = 402; initialDepth = 3674.671253; finalDepth = 3680.459452; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.2222780000002 # Actual altitude: 66.2222780000002 # Commanded vehicle depth: 3680.459452 # Seafloor depth: -3732.925328 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 105.810541 meters # Minimum depth: 3724.671253 meters looking forward 100.000000 meters along route # Maximum depth: 3730.053779 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3674.671253 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.976659; longitude = -108.858869; duration = 423; initialDepth = 3674.354301; finalDepth = 3674.671253; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.3825259999999 # Actual altitude: 55.3825259999999 # Commanded vehicle depth: 3674.671253 # Seafloor depth: -3730.053779 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 100.162388 meters # Minimum depth: 3724.354301 meters looking forward 100.000000 meters along route # Maximum depth: 3724.844009 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3674.354301 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.976971; longitude = -108.859852; duration = 400; initialDepth = 3674.910003; finalDepth = 3674.354301; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.3825259999999 # Actual altitude: 55.3825259999999 # Commanded vehicle depth: 3674.354301 # Seafloor depth: -3724.509554 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 100.876856 meters # Minimum depth: 3724.910003 meters looking forward 100.000000 meters along route # Maximum depth: 3726.869625 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3674.910003 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.977266; longitude = -108.860782; duration = 403; initialDepth = 3677.083774; finalDepth = 3674.910003; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1552530000004 # Actual altitude: 50.1552530000004 # Commanded vehicle depth: 3674.910003 # Seafloor depth: -3724.910003 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 105.809717 meters # Minimum depth: 3727.083774 meters looking forward 100.000000 meters along route # Maximum depth: 3727.439603 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3677.083774 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.977563; longitude = -108.861719; duration = 423; initialDepth = 3676.753683; finalDepth = 3677.083774; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3677.083774 # Seafloor depth: -3727.083774 # 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 48 # Segment length 105.809432 meters # Minimum depth: 3726.753683 meters looking forward 100.000000 meters along route # Maximum depth: 3727.034306 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3676.753683 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.977875; longitude = -108.862701; duration = 423; initialDepth = 3677.018077; finalDepth = 3676.753683; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2806230000001 # Actual altitude: 50.2806230000001 # Commanded vehicle depth: 3676.753683 # Seafloor depth: -3727.034306 # 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 48 # Segment length 105.809148 meters # Minimum depth: 3727.018077 meters looking forward 100.000000 meters along route # Maximum depth: 3727.570135 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3677.018077 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.978186; longitude = -108.863684; duration = 423; initialDepth = 3674.734261; finalDepth = 3677.018077; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2806230000001 # Actual altitude: 50.2806230000001 # Commanded vehicle depth: 3677.018077 # Seafloor depth: -3727.018077 # 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 48 # Segment length 105.808865 meters # Minimum depth: 3724.734261 meters looking forward 100.000000 meters along route # Maximum depth: 3727.076536 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3674.734261 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.978498; longitude = -108.864666; duration = 423; initialDepth = 3669.955402; finalDepth = 3674.734261; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.342275 # Actual altitude: 52.342275 # Commanded vehicle depth: 3674.734261 # Seafloor depth: -3727.076536 # 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 48 # Segment length 105.808580 meters # Minimum depth: 3719.955402 meters looking forward 100.000000 meters along route # Maximum depth: 3724.704940 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3669.955402 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.978810; longitude = -108.865649; duration = 423; initialDepth = 3648.144635; finalDepth = 3669.955402; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.749538 # Actual altitude: 54.749538 # Commanded vehicle depth: 3669.955402 # Seafloor depth: -3724.704940 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 105.808296 meters # Minimum depth: 3698.144635 meters looking forward 100.000000 meters along route # Maximum depth: 3718.386272 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3648.144635 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.979121; longitude = -108.866632; duration = 423; initialDepth = 3647.339832; finalDepth = 3648.144635; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.2416370000001 # Actual altitude: 70.2416370000001 # Commanded vehicle depth: 3648.144635 # Seafloor depth: -3718.386272 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 102.262221 meters # Minimum depth: 3697.339832 meters looking forward 100.000000 meters along route # Maximum depth: 3700.874897 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3647.339832 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.979433; longitude = -108.867614; duration = 409; initialDepth = 3650.763733; finalDepth = 3647.339832; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 70.2416370000001 # Actual altitude: 70.2416370000001 # Commanded vehicle depth: 3647.339832 # Seafloor depth: -3698.143492 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 47 # Segment length 100.318715 meters # Minimum depth: 3700.763733 meters looking forward 100.000000 meters along route # Maximum depth: 3705.725688 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3650.763733 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.979734; longitude = -108.868564; duration = 401; # abortOnTimeout = True; initialDepth = 3654.561392; finalDepth = 3650.763733; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.80366 # Actual altitude: 50.80366 # Commanded vehicle depth: 3650.763733 # Seafloor depth: -3700.763733 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 46 # Segment length 98.727512 meters # Minimum depth: 3704.561392 meters looking forward 100.000000 meters along route # Maximum depth: 3707.641033 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3654.561392 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.978861; longitude = -108.868826; duration = 394; # abortOnTimeout = True; initialDepth = 3653.747218; finalDepth = 3654.561392; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8761690000001 # Actual altitude: 50.8761690000001 # Commanded vehicle depth: 3654.561392 # Seafloor depth: -3705.437561 # 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 46 # Segment length 105.803805 meters # Minimum depth: 3703.747218 meters looking forward 100.000000 meters along route # Maximum depth: 3715.951796 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3653.747218 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.978570; longitude = -108.867909; duration = 423; initialDepth = 3665.962326; finalDepth = 3653.747218; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8761690000001 # Actual altitude: 50.8761690000001 # Commanded vehicle depth: 3653.747218 # Seafloor depth: -3704.231313 # 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 46 # Segment length 105.804088 meters # Minimum depth: 3715.962326 meters looking forward 100.000000 meters along route # Maximum depth: 3721.743322 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3665.962326 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.978259; longitude = -108.866926; duration = 423; initialDepth = 3671.297431; finalDepth = 3665.962326; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4840949999998 # Actual altitude: 50.4840949999998 # Commanded vehicle depth: 3665.962326 # Seafloor depth: -3715.962326 # 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 46 # Segment length 108.799476 meters # Minimum depth: 3721.297431 meters looking forward 100.000000 meters along route # Maximum depth: 3723.267152 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3671.297431 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.977947; longitude = -108.865944; duration = 435; initialDepth = 3673.365482; finalDepth = 3671.297431; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0975509999998 # Actual altitude: 50.0975509999998 # Commanded vehicle depth: 3671.297431 # Seafloor depth: -3721.394982 # 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 46 # Segment length 102.809554 meters # Minimum depth: 3723.365482 meters looking forward 100.000000 meters along route # Maximum depth: 3725.296460 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3673.365482 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.977627; longitude = -108.864933; duration = 411; initialDepth = 3675.555661; finalDepth = 3673.365482; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0975509999998 # Actual altitude: 50.0975509999998 # Commanded vehicle depth: 3673.365482 # Seafloor depth: -3723.365482 # 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 46 # Segment length 105.804940 meters # Minimum depth: 3725.555661 meters looking forward 100.000000 meters along route # Maximum depth: 3726.370730 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3675.555661 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.977324; longitude = -108.863979; duration = 423; initialDepth = 3673.773520; finalDepth = 3675.555661; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3675.555661 # Seafloor depth: -3725.555661 # 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 46 # Segment length 105.805225 meters # Minimum depth: 3723.773520 meters looking forward 100.000000 meters along route # Maximum depth: 3725.526092 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3673.773520 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.977013; longitude = -108.862996; duration = 423; initialDepth = 3670.002388; finalDepth = 3673.773520; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7525719999999 # Actual altitude: 51.7525719999999 # Commanded vehicle depth: 3673.77352 # Seafloor depth: -3725.526092 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 105.805509 meters # Minimum depth: 3720.002388 meters looking forward 100.000000 meters along route # Maximum depth: 3723.585620 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3670.002388 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.976701; longitude = -108.862013; duration = 423; initialDepth = 3664.418278; finalDepth = 3670.002388; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.583232 # Actual altitude: 53.583232 # Commanded vehicle depth: 3670.002388 # Seafloor depth: -3723.585620 # 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 46 # Segment length 105.805793 meters # Minimum depth: 3714.418278 meters looking forward 100.000000 meters along route # Maximum depth: 3719.383987 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3664.418278 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.976390; longitude = -108.861031; duration = 423; initialDepth = 3664.441167; finalDepth = 3664.418278; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.9657090000001 # Actual altitude: 54.9657090000001 # Commanded vehicle depth: 3664.418278 # Seafloor depth: -3719.383987 # 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 46 # Segment length 105.806077 meters # Minimum depth: 3714.441167 meters looking forward 100.000000 meters along route # Maximum depth: 3721.108780 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3664.441167 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.976078; longitude = -108.860048; duration = 423; initialDepth = 3672.081485; finalDepth = 3664.441167; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.9657090000001 # Actual altitude: 54.9657090000001 # Commanded vehicle depth: 3664.441167 # Seafloor depth: -3714.441167 # 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 46 # Segment length 105.806361 meters # Minimum depth: 3722.081485 meters looking forward 100.000000 meters along route # Maximum depth: 3729.618673 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3672.081485 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.975767; longitude = -108.859065; duration = 423; initialDepth = 3679.800525; finalDepth = 3672.081485; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3672.081485 # Seafloor depth: -3722.081485 # 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 46 # Segment length 105.806645 meters # Minimum depth: 3729.800525 meters looking forward 100.000000 meters along route # Maximum depth: 3744.059842 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3679.800525 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.975455; longitude = -108.858083; duration = 423; initialDepth = 3695.364275; finalDepth = 3679.800525; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3679.800525 # Seafloor depth: -3729.800525 # 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 46 # Segment length 107.257245 meters # Minimum depth: 3745.364275 meters looking forward 100.000000 meters along route # Maximum depth: 3753.241987 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3695.364275 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.975144; longitude = -108.857100; duration = 429; initialDepth = 3703.300041; finalDepth = 3695.364275; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3695.364275 # Seafloor depth: -3745.364275 # 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 46 # Segment length 107.045289 meters # Minimum depth: 3753.300041 meters looking forward 100.000000 meters along route # Maximum depth: 3757.732045 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3703.300041 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.974828; longitude = -108.856104; duration = 428; initialDepth = 3701.775920; finalDepth = 3703.300041; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3703.300041 # Seafloor depth: -3753.300041 # 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 45 # Segment length 100.017384 meters # Minimum depth: 3751.775920 meters looking forward 100.000000 meters along route # Maximum depth: 3758.127441 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3701.775920 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.974513; longitude = -108.855110; duration = 400; # abortOnTimeout = True; initialDepth = 3698.312135; finalDepth = 3701.775920; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 56.351521 # Actual altitude: 56.351521 # Commanded vehicle depth: 3701.77592 # Seafloor depth: -3758.127441 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 44 # Segment length 95.098863 meters # Minimum depth: 3748.312135 meters looking forward 100.000000 meters along route # Maximum depth: 3751.775920 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3698.312135 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.973660; longitude = -108.855432; duration = 380; # abortOnTimeout = True; initialDepth = 3690.318187; finalDepth = 3698.312135; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.351521 # Actual altitude: 56.351521 # Commanded vehicle depth: 3698.312135 # Seafloor depth: -3751.513489 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 105.934125 meters # Minimum depth: 3740.318187 meters looking forward 100.000000 meters along route # Maximum depth: 3748.213820 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3690.318187 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.973943; longitude = -108.856314; duration = 423; initialDepth = 3670.160762; finalDepth = 3690.318187; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.8956330000001 # Actual altitude: 57.8956330000001 # Commanded vehicle depth: 3690.318187 # Seafloor depth: -3748.213820 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.95; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 105.933838 meters # Minimum depth: 3720.160762 meters looking forward 100.000000 meters along route # Maximum depth: 3738.316594 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3670.160762 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.974258; longitude = -108.857297; duration = 423; initialDepth = 3655.552090; finalDepth = 3670.160762; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.1558319999999 # Actual altitude: 68.1558319999999 # Commanded vehicle depth: 3670.160762 # Seafloor depth: -3738.316594 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 105.933552 meters # Minimum depth: 3705.552090 meters looking forward 100.000000 meters along route # Maximum depth: 3719.292413 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3655.552090 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.974573; longitude = -108.858279; duration = 423; initialDepth = 3642.097724; finalDepth = 3655.552090; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.1558319999999 # Actual altitude: 68.1558319999999 # Commanded vehicle depth: 3655.55209 # Seafloor depth: -3719.292413 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 105.933266 meters # Minimum depth: 3692.097724 meters looking forward 100.000000 meters along route # Maximum depth: 3704.247906 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3642.097724 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.974888; longitude = -108.859262; duration = 423; initialDepth = 3640.325495; finalDepth = 3642.097724; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.740323 # Actual altitude: 63.740323 # Commanded vehicle depth: 3642.097724 # Seafloor depth: -3704.247906 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 105.932979 meters # Minimum depth: 3690.325495 meters looking forward 100.000000 meters along route # Maximum depth: 3693.552258 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3640.325495 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.975203; longitude = -108.860245; duration = 423; initialDepth = 3644.678432; finalDepth = 3640.325495; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.1501819999999 # Actual altitude: 62.1501819999999 # Commanded vehicle depth: 3640.325495 # Seafloor depth: -3691.787253 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 105.932693 meters # Minimum depth: 3694.678432 meters looking forward 100.000000 meters along route # Maximum depth: 3708.836961 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3644.678432 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.975518; longitude = -108.861227; duration = 423; initialDepth = 3659.302166; finalDepth = 3644.678432; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4617579999999 # Actual altitude: 51.4617579999999 # Commanded vehicle depth: 3644.678432 # Seafloor depth: -3694.678432 # 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 44 # Segment length 105.932406 meters # Minimum depth: 3709.302166 meters looking forward 100.000000 meters along route # Maximum depth: 3718.289876 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3659.302166 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.975833; longitude = -108.862210; duration = 423; initialDepth = 3668.922572; finalDepth = 3659.302166; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3659.302166 # Seafloor depth: -3709.302166 # 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 44 # Segment length 105.932120 meters # Minimum depth: 3718.922572 meters looking forward 100.000000 meters along route # Maximum depth: 3720.305695 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3668.922572 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.976148; longitude = -108.863192; duration = 423; initialDepth = 3669.610325; finalDepth = 3668.922572; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3668.922572 # Seafloor depth: -3718.922572 # 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 44 # Segment length 105.931834 meters # Minimum depth: 3719.610325 meters looking forward 100.000000 meters along route # Maximum depth: 3720.252415 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3669.610325 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.976463; longitude = -108.864175; duration = 423; initialDepth = 3670.479901; finalDepth = 3669.610325; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.384192 # Actual altitude: 50.384192 # Commanded vehicle depth: 3669.610325 # Seafloor depth: -3719.994517 # 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 44 # Segment length 105.931547 meters # Minimum depth: 3720.479901 meters looking forward 100.000000 meters along route # Maximum depth: 3721.408998 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3670.479901 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.976778; longitude = -108.865158; duration = 423; initialDepth = 3666.808918; finalDepth = 3670.479901; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.384192 # Actual altitude: 50.384192 # Commanded vehicle depth: 3670.479901 # Seafloor depth: -3720.479901 # 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 44 # Segment length 105.931262 meters # Minimum depth: 3716.808918 meters looking forward 100.000000 meters along route # Maximum depth: 3720.983605 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3666.808918 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.977093; longitude = -108.866140; duration = 423; initialDepth = 3658.127424; finalDepth = 3666.808918; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1746869999997 # Actual altitude: 54.1746869999997 # Commanded vehicle depth: 3666.808918 # Seafloor depth: -3720.983605 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 105.930975 meters # Minimum depth: 3708.127424 meters looking forward 100.000000 meters along route # Maximum depth: 3715.635480 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3658.127424 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.977408; longitude = -108.867123; duration = 423; initialDepth = 3655.531146; finalDepth = 3658.127424; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.5080560000001 # Actual altitude: 57.5080560000001 # Commanded vehicle depth: 3658.127424 # Seafloor depth: -3715.635480 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 109.462138 meters # Minimum depth: 3705.531146 meters looking forward 100.000000 meters along route # Maximum depth: 3710.271405 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3655.531146 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.977723; longitude = -108.868106; duration = 437; initialDepth = 3653.312746; finalDepth = 3655.531146; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 57.5080560000001 # Actual altitude: 57.5080560000001 # Commanded vehicle depth: 3655.531146 # Seafloor depth: -3708.151259 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.75; 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 43 # Segment length 99.070040 meters # Minimum depth: 3703.312746 meters looking forward 100.000000 meters along route # Maximum depth: 3704.475444 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3653.312746 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.978048; longitude = -108.869121; duration = 396; # abortOnTimeout = True; initialDepth = 3653.629028; finalDepth = 3653.312746; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.6201130000004 # Actual altitude: 52.6201130000004 # Commanded vehicle depth: 3653.312746 # Seafloor depth: -3703.990417 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 42 # Segment length 102.473073 meters # Minimum depth: 3703.629028 meters looking forward 100.000000 meters along route # Maximum depth: 3713.331322 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3653.629028 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.977206; longitude = -108.869449; duration = 409; # abortOnTimeout = True; initialDepth = 3657.784569; finalDepth = 3653.629028; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6776709999999 # Actual altitude: 50.6776709999999 # Commanded vehicle depth: 3653.629028 # Seafloor depth: -3703.629028 # 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 42 # Segment length 105.955337 meters # Minimum depth: 3707.784569 meters looking forward 100.000000 meters along route # Maximum depth: 3710.417876 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3657.784569 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.976901; longitude = -108.868499; duration = 423; initialDepth = 3661.248649; finalDepth = 3657.784569; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6333070000001 # Actual altitude: 52.6333070000001 # Commanded vehicle depth: 3657.784569 # Seafloor depth: -3710.417876 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 105.955623 meters # Minimum depth: 3711.248649 meters looking forward 100.000000 meters along route # Maximum depth: 3714.440581 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3661.248649 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.976585; longitude = -108.867516; duration = 423; initialDepth = 3657.671313; finalDepth = 3661.248649; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6333070000001 # Actual altitude: 52.6333070000001 # Commanded vehicle depth: 3661.248649 # Seafloor depth: -3711.248649 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 105.955911 meters # Minimum depth: 3707.671313 meters looking forward 100.000000 meters along route # Maximum depth: 3711.783493 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3657.671313 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.976269; longitude = -108.866533; duration = 423; initialDepth = 3657.963846; finalDepth = 3657.671313; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1121800000001 # Actual altitude: 54.1121800000001 # Commanded vehicle depth: 3657.671313 # Seafloor depth: -3711.783493 # 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 42 # Segment length 105.956197 meters # Minimum depth: 3707.963846 meters looking forward 100.000000 meters along route # Maximum depth: 3715.559586 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3657.963846 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.975954; longitude = -108.865551; duration = 423; initialDepth = 3665.622753; finalDepth = 3657.963846; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1121800000001 # Actual altitude: 54.1121800000001 # Commanded vehicle depth: 3657.963846 # Seafloor depth: -3707.963846 # 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 42 # Segment length 105.956483 meters # Minimum depth: 3715.622753 meters looking forward 100.000000 meters along route # Maximum depth: 3717.504253 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3665.622753 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.975638; longitude = -108.864568; duration = 423; initialDepth = 3647.941796; finalDepth = 3665.622753; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3665.622753 # Seafloor depth: -3715.622753 # 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 42 # Segment length 105.956771 meters # Minimum depth: 3697.941796 meters looking forward 100.000000 meters along route # Maximum depth: 3714.740788 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3647.941796 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.975323; longitude = -108.863586; duration = 423; initialDepth = 3633.163913; finalDepth = 3647.941796; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.798992 # Actual altitude: 66.798992 # Commanded vehicle depth: 3647.941796 # Seafloor depth: -3714.740788 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 105.957057 meters # Minimum depth: 3683.163913 meters looking forward 100.000000 meters along route # Maximum depth: 3697.831062 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3633.163913 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.975007; longitude = -108.862603; duration = 423; initialDepth = 3630.940584; finalDepth = 3633.163913; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.798992 # Actual altitude: 66.798992 # Commanded vehicle depth: 3633.163913 # Seafloor depth: -3697.831062 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 105.957344 meters # Minimum depth: 3680.940584 meters looking forward 100.000000 meters along route # Maximum depth: 3686.294221 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3630.940584 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.974691; longitude = -108.861620; duration = 423; initialDepth = 3636.334289; finalDepth = 3630.940584; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.6671490000003 # Actual altitude: 64.6671490000003 # Commanded vehicle depth: 3630.940584 # Seafloor depth: -3682.245719 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 105.957631 meters # Minimum depth: 3686.334289 meters looking forward 100.000000 meters along route # Maximum depth: 3696.629053 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3636.334289 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.974376; longitude = -108.860638; duration = 423; initialDepth = 3645.768049; finalDepth = 3636.334289; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3051350000001 # Actual altitude: 51.3051350000001 # Commanded vehicle depth: 3636.334289 # Seafloor depth: -3686.334289 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 105.957917 meters # Minimum depth: 3695.768049 meters looking forward 100.000000 meters along route # Maximum depth: 3697.725075 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3645.768049 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.974060; longitude = -108.859655; duration = 423; initialDepth = 3647.732227; finalDepth = 3645.768049; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.183 # Actual altitude: 51.183 # Commanded vehicle depth: 3645.768049 # Seafloor depth: -3696.951049 # 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 42 # Segment length 105.958205 meters # Minimum depth: 3697.732227 meters looking forward 100.000000 meters along route # Maximum depth: 3714.126557 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3647.732227 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.973744; longitude = -108.858672; duration = 423; initialDepth = 3666.295205; finalDepth = 3647.732227; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.183 # Actual altitude: 51.183 # Commanded vehicle depth: 3647.732227 # Seafloor depth: -3697.732227 # 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 42 # Segment length 106.121000 meters # Minimum depth: 3716.295205 meters looking forward 100.000000 meters along route # Maximum depth: 3733.713855 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3666.295205 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.973429; longitude = -108.857690; duration = 424; initialDepth = 3683.738994; finalDepth = 3666.295205; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3666.295205 # Seafloor depth: -3716.295205 # 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 42 # Segment length 102.619728 meters # Minimum depth: 3733.738994 meters looking forward 100.000000 meters along route # Maximum depth: 3741.446432 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3683.738994 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.973113; longitude = -108.856706; duration = 410; initialDepth = 3684.615482; finalDepth = 3683.738994; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3683.738994 # Seafloor depth: -3733.738994 # 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 41 # Segment length 100.017471 meters # Minimum depth: 3734.615482 meters looking forward 100.000000 meters along route # Maximum depth: 3740.308533 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3684.615482 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.972807; longitude = -108.855754; duration = 400; # abortOnTimeout = True; initialDepth = 3671.313428; finalDepth = 3684.615482; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.6930509999997 # Actual altitude: 55.6930509999997 # Commanded vehicle depth: 3684.615482 # Seafloor depth: -3740.308533 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 40 # Segment length 110.273051 meters # Minimum depth: 3721.313428 meters looking forward 100.000000 meters along route # Maximum depth: 3734.336426 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3671.313428 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.971954; longitude = -108.856076; duration = 441; # abortOnTimeout = True; initialDepth = 3652.887020; finalDepth = 3671.313428; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.0229979999999 # Actual altitude: 63.0229979999999 # Commanded vehicle depth: 3671.313428 # Seafloor depth: -3734.336426 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 105.794741 meters # Minimum depth: 3702.887020 meters looking forward 100.000000 meters along route # Maximum depth: 3719.313389 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3652.887020 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.972278; longitude = -108.857100; duration = 423; initialDepth = 3639.335380; finalDepth = 3652.887020; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.4263689999998 # Actual altitude: 66.4263689999998 # Commanded vehicle depth: 3652.88702 # Seafloor depth: -3719.313389 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 105.794457 meters # Minimum depth: 3689.335380 meters looking forward 100.000000 meters along route # Maximum depth: 3701.818364 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3639.335380 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.972589; longitude = -108.858083; duration = 423; initialDepth = 3639.163182; finalDepth = 3639.335380; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.4263689999998 # Actual altitude: 66.4263689999998 # Commanded vehicle depth: 3639.33538 # Seafloor depth: -3701.818364 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 105.794173 meters # Minimum depth: 3689.163182 meters looking forward 100.000000 meters along route # Maximum depth: 3692.737034 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3639.163182 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.972900; longitude = -108.859065; duration = 423; initialDepth = 3640.092347; finalDepth = 3639.163182; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.4829840000002 # Actual altitude: 62.4829840000002 # Commanded vehicle depth: 3639.163182 # Seafloor depth: -3689.163182 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 105.793890 meters # Minimum depth: 3690.092347 meters looking forward 100.000000 meters along route # Maximum depth: 3693.130623 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3640.092347 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.973212; longitude = -108.860048; duration = 423; initialDepth = 3632.116419; finalDepth = 3640.092347; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7326710000002 # Actual altitude: 52.7326710000002 # Commanded vehicle depth: 3640.092347 # Seafloor depth: -3692.825018 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 106.192675 meters # Minimum depth: 3682.116419 meters looking forward 100.000000 meters along route # Maximum depth: 3689.150705 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3632.116419 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.973523; longitude = -108.861031; duration = 424; initialDepth = 3632.122678; finalDepth = 3632.116419; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.0342860000001 # Actual altitude: 57.0342860000001 # Commanded vehicle depth: 3632.116419 # Seafloor depth: -3689.150705 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 105.394252 meters # Minimum depth: 3682.122678 meters looking forward 100.000000 meters along route # Maximum depth: 3691.640244 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3632.122678 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.973835; longitude = -108.862017; duration = 421; initialDepth = 3643.171122; finalDepth = 3632.122678; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.0342860000001 # Actual altitude: 57.0342860000001 # Commanded vehicle depth: 3632.122678 # Seafloor depth: -3682.122678 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 109.523392 meters # Minimum depth: 3693.171122 meters looking forward 100.000000 meters along route # Maximum depth: 3704.073502 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3643.171122 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.974145; longitude = -108.862996; duration = 438; initialDepth = 3653.963223; finalDepth = 3643.171122; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3643.171122 # Seafloor depth: -3693.171122 # 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 40 # Segment length 102.062401 meters # Minimum depth: 3703.963223 meters looking forward 100.000000 meters along route # Maximum depth: 3705.147284 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3653.963223 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.974467; longitude = -108.864013; duration = 408; initialDepth = 3652.666724; finalDepth = 3653.963223; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2507639999999 # Actual altitude: 50.2507639999999 # Commanded vehicle depth: 3653.963223 # Seafloor depth: -3704.213987 # 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 40 # Segment length 105.792471 meters # Minimum depth: 3702.666724 meters looking forward 100.000000 meters along route # Maximum depth: 3703.911894 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3652.666724 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.974767; longitude = -108.864961; duration = 423; initialDepth = 3654.443008; finalDepth = 3652.666724; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8895389999998 # Actual altitude: 50.8895389999998 # Commanded vehicle depth: 3652.666724 # Seafloor depth: -3703.556263 # 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 40 # Segment length 105.792187 meters # Minimum depth: 3704.443008 meters looking forward 100.000000 meters along route # Maximum depth: 3705.508181 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3654.443008 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.975078; longitude = -108.865944; duration = 423; initialDepth = 3652.757185; finalDepth = 3654.443008; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8895389999998 # Actual altitude: 50.8895389999998 # Commanded vehicle depth: 3654.443008 # Seafloor depth: -3704.443008 # 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 40 # Segment length 105.791903 meters # Minimum depth: 3702.757185 meters looking forward 100.000000 meters along route # Maximum depth: 3704.406971 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3652.757185 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.975389; longitude = -108.866926; duration = 423; initialDepth = 3653.034010; finalDepth = 3652.757185; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6497859999999 # Actual altitude: 51.6497859999999 # Commanded vehicle depth: 3652.757185 # Seafloor depth: -3704.406971 # 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 40 # Segment length 105.791620 meters # Minimum depth: 3703.034010 meters looking forward 100.000000 meters along route # Maximum depth: 3710.557363 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3653.034010 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.975700; longitude = -108.867909; duration = 423; initialDepth = 3644.389588; finalDepth = 3653.034010; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6497859999999 # Actual altitude: 51.6497859999999 # Commanded vehicle depth: 3653.03401 # Seafloor depth: -3703.034010 # 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 40 # Segment length 109.307374 meters # Minimum depth: 3694.389588 meters looking forward 100.000000 meters along route # Maximum depth: 3711.485460 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3644.389588 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.976012; longitude = -108.868892; duration = 437; initialDepth = 3640.430283; finalDepth = 3644.389588; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 66.3532439999999 # Actual altitude: 66.3532439999999 # Commanded vehicle depth: 3644.389588 # Seafloor depth: -3710.742832 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 39 # Segment length 99.174434 meters # Minimum depth: 3690.430283 meters looking forward 100.000000 meters along route # Maximum depth: 3692.288206 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3640.430283 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.976333; longitude = -108.869907; duration = 396; # abortOnTimeout = True; initialDepth = 3640.750122; finalDepth = 3640.430283; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 66.3532439999999 # Actual altitude: 66.3532439999999 # Commanded vehicle depth: 3640.430283 # Seafloor depth: -3691.960876 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 38 # Segment length 123.485149 meters # Minimum depth: 3690.750122 meters looking forward 100.000000 meters along route # Maximum depth: 3704.265574 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3640.750122 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.975490; longitude = -108.870235; duration = 493; # abortOnTimeout = True; initialDepth = 3637.871913; finalDepth = 3640.750122; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.530593 # Actual altitude: 51.530593 # Commanded vehicle depth: 3640.750122 # Seafloor depth: -3690.750122 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 105.811278 meters # Minimum depth: 3687.871913 meters looking forward 100.000000 meters along route # Maximum depth: 3702.243987 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3637.871913 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.975126; longitude = -108.869088; duration = 423; initialDepth = 3635.193519; finalDepth = 3637.871913; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.3720739999999 # Actual altitude: 64.3720739999999 # Commanded vehicle depth: 3637.871913 # Seafloor depth: -3702.243987 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 105.811562 meters # Minimum depth: 3685.193519 meters looking forward 100.000000 meters along route # Maximum depth: 3690.655536 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3635.193519 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.974815; longitude = -108.868106; duration = 423; initialDepth = 3642.518605; finalDepth = 3635.193519; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.3720739999999 # Actual altitude: 64.3720739999999 # Commanded vehicle depth: 3635.193519 # Seafloor depth: -3687.208475 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 105.811846 meters # Minimum depth: 3692.518605 meters looking forward 100.000000 meters along route # Maximum depth: 3700.737514 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3642.518605 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.974503; longitude = -108.867123; duration = 423; initialDepth = 3645.572089; finalDepth = 3642.518605; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.014956 # Actual altitude: 52.014956 # Commanded vehicle depth: 3642.518605 # Seafloor depth: -3692.518605 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 105.812130 meters # Minimum depth: 3695.572089 meters looking forward 100.000000 meters along route # Maximum depth: 3700.374593 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3645.572089 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.974191; longitude = -108.866140; duration = 423; initialDepth = 3644.751225; finalDepth = 3645.572089; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8025040000002 # Actual altitude: 54.8025040000002 # Commanded vehicle depth: 3645.572089 # Seafloor depth: -3700.374593 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 107.179519 meters # Minimum depth: 3694.751225 meters looking forward 100.000000 meters along route # Maximum depth: 3696.371855 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3644.751225 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.973880; longitude = -108.865158; duration = 428; initialDepth = 3638.025345; finalDepth = 3644.751225; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8025040000002 # Actual altitude: 54.8025040000002 # Commanded vehicle depth: 3644.751225 # Seafloor depth: -3695.132441 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 104.445593 meters # Minimum depth: 3688.025345 meters looking forward 100.000000 meters along route # Maximum depth: 3696.368251 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3638.025345 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.973564; longitude = -108.864162; duration = 417; initialDepth = 3626.668966; finalDepth = 3638.025345; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.3429059999999 # Actual altitude: 58.3429059999999 # Commanded vehicle depth: 3638.025345 # Seafloor depth: -3696.368251 # 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 38 # Segment length 110.148678 meters # Minimum depth: 3676.668966 meters looking forward 100.000000 meters along route # Maximum depth: 3686.359420 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3626.668966 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.973257; longitude = -108.863192; duration = 440; initialDepth = 3627.022517; finalDepth = 3626.668966; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.6904539999996 # Actual altitude: 59.6904539999996 # Commanded vehicle depth: 3626.668966 # Seafloor depth: -3686.359420 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 101.477570 meters # Minimum depth: 3677.022517 meters looking forward 100.000000 meters along route # Maximum depth: 3685.444507 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3627.022517 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.972932; longitude = -108.862170; duration = 405; initialDepth = 3636.310934; finalDepth = 3627.022517; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.6904539999996 # Actual altitude: 59.6904539999996 # Commanded vehicle depth: 3627.022517 # Seafloor depth: -3677.022517 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 105.813550 meters # Minimum depth: 3686.310934 meters looking forward 100.000000 meters along route # Maximum depth: 3689.708435 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3636.310934 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.972633; longitude = -108.861227; duration = 423; initialDepth = 3636.346282; finalDepth = 3636.310934; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3636.310934 # Seafloor depth: -3686.310934 # 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 38 # Segment length 105.813835 meters # Minimum depth: 3686.346282 meters looking forward 100.000000 meters along route # Maximum depth: 3688.850946 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3636.346282 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.972322; longitude = -108.860245; duration = 423; initialDepth = 3638.144029; finalDepth = 3636.346282; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.504664 # Actual altitude: 52.504664 # Commanded vehicle depth: 3636.346282 # Seafloor depth: -3688.850946 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 105.814118 meters # Minimum depth: 3688.144029 meters looking forward 100.000000 meters along route # Maximum depth: 3705.395448 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3638.144029 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.972010; longitude = -108.859262; duration = 423; initialDepth = 3657.829006; finalDepth = 3638.144029; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.504664 # Actual altitude: 52.504664 # Commanded vehicle depth: 3638.144029 # Seafloor depth: -3688.144029 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 102.243307 meters # Minimum depth: 3707.829006 meters looking forward 100.000000 meters along route # Maximum depth: 3724.022615 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3657.829006 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.971698; longitude = -108.858279; duration = 408; initialDepth = 3674.920169; finalDepth = 3657.829006; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3657.829006 # Seafloor depth: -3707.829006 # 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 38 # Segment length 100.245072 meters # Minimum depth: 3724.920169 meters looking forward 100.000000 meters along route # Maximum depth: 3730.415197 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3674.920169 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.971397; longitude = -108.857330; duration = 400; initialDepth = 3673.938994; finalDepth = 3674.920169; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3674.920169 # Seafloor depth: -3724.920169 # 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 37 # Segment length 100.017559 meters # Minimum depth: 3723.938994 meters looking forward 100.000000 meters along route # Maximum depth: 3730.353943 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3673.938994 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.971102; longitude = -108.856399; duration = 400; # abortOnTimeout = True; initialDepth = 3667.137824; finalDepth = 3673.938994; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 56.414949 # Actual altitude: 56.414949 # Commanded vehicle depth: 3673.938994 # Seafloor depth: -3730.353943 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 36 # Segment length 136.066936 meters # Minimum depth: 3717.137824 meters looking forward 100.000000 meters along route # Maximum depth: 3723.654480 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3667.137824 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.970249; longitude = -108.856721; duration = 544; # abortOnTimeout = True; initialDepth = 3650.193368; finalDepth = 3667.137824; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.5166560000002 # Actual altitude: 56.5166560000002 # Commanded vehicle depth: 3667.137824 # Seafloor depth: -3723.654480 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 100.576829 meters # Minimum depth: 3700.193368 meters looking forward 100.000000 meters along route # Maximum depth: 3716.040824 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3650.193368 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.970650; longitude = -108.857985; duration = 402; initialDepth = 3639.889665; finalDepth = 3650.193368; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.847456 # Actual altitude: 65.847456 # Commanded vehicle depth: 3650.193368 # Seafloor depth: -3716.040824 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.466481 meters # Minimum depth: 3689.889665 meters looking forward 100.000000 meters along route # Maximum depth: 3699.264596 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3639.889665 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.970946; longitude = -108.858919; duration = 401; initialDepth = 3637.904451; finalDepth = 3639.889665; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.847456 # Actual altitude: 65.847456 # Commanded vehicle depth: 3639.889665 # Seafloor depth: -3699.264596 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 105.811857 meters # Minimum depth: 3687.904451 meters looking forward 100.000000 meters along route # Maximum depth: 3689.606821 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3637.904451 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.971242; longitude = -108.859852; duration = 423; initialDepth = 3627.885696; finalDepth = 3637.904451; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.3749309999998 # Actual altitude: 59.3749309999998 # Commanded vehicle depth: 3637.904451 # Seafloor depth: -3689.606821 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.350209 meters # Minimum depth: 3677.885696 meters looking forward 100.000000 meters along route # Maximum depth: 3687.373165 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3627.885696 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.971553; longitude = -108.860834; duration = 401; initialDepth = 3625.490203; finalDepth = 3627.885696; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.4874690000001 # Actual altitude: 59.4874690000001 # Commanded vehicle depth: 3627.885696 # Seafloor depth: -3687.373165 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.691536 meters # Minimum depth: 3675.490203 meters looking forward 100.000000 meters along route # Maximum depth: 3677.492852 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3625.490203 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.971849; longitude = -108.861766; duration = 402; initialDepth = 3627.625040; finalDepth = 3625.490203; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.4874690000001 # Actual altitude: 59.4874690000001 # Commanded vehicle depth: 3625.490203 # Seafloor depth: -3677.492852 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 105.811033 meters # Minimum depth: 3677.625040 meters looking forward 100.000000 meters along route # Maximum depth: 3684.855263 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3627.625040 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.972145; longitude = -108.862701; duration = 423; initialDepth = 3635.650574; finalDepth = 3627.625040; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.002649 # Actual altitude: 52.002649 # Commanded vehicle depth: 3627.62504 # Seafloor depth: -3677.625040 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.123594 meters # Minimum depth: 3685.650574 meters looking forward 100.000000 meters along route # Maximum depth: 3691.568329 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3635.650574 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.972457; longitude = -108.863684; duration = 400; initialDepth = 3635.638073; finalDepth = 3635.650574; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3635.650574 # Seafloor depth: -3685.650574 # 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 36 # Segment length 100.916586 meters # Minimum depth: 3685.638073 meters looking forward 100.000000 meters along route # Maximum depth: 3691.599628 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3635.638073 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.972752; longitude = -108.864614; duration = 403; initialDepth = 3630.001929; finalDepth = 3635.638073; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.9615549999999 # Actual altitude: 55.9615549999999 # Commanded vehicle depth: 3635.638073 # Seafloor depth: -3691.599628 # 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 36 # Segment length 105.810209 meters # Minimum depth: 3680.001929 meters looking forward 100.000000 meters along route # Maximum depth: 3684.995493 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3630.001929 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.973049; longitude = -108.865551; duration = 423; initialDepth = 3611.829847; finalDepth = 3630.001929; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.9615549999999 # Actual altitude: 55.9615549999999 # Commanded vehicle depth: 3630.001929 # Seafloor depth: -3684.995493 # 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 36 # Segment length 105.809926 meters # Minimum depth: 3661.829847 meters looking forward 100.000000 meters along route # Maximum depth: 3678.812574 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3611.829847 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.973360; longitude = -108.866533; duration = 423; initialDepth = 3604.321356; finalDepth = 3611.829847; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.9827270000001 # Actual altitude: 66.9827270000001 # Commanded vehicle depth: 3611.829847 # Seafloor depth: -3678.812574 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 105.809641 meters # Minimum depth: 3654.321356 meters looking forward 100.000000 meters along route # Maximum depth: 3660.479885 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3604.321356 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.973672; longitude = -108.867516; duration = 423; initialDepth = 3610.293962; finalDepth = 3604.321356; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.9827270000001 # Actual altitude: 66.9827270000001 # Commanded vehicle depth: 3604.321356 # Seafloor depth: -3660.479885 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 105.809358 meters # Minimum depth: 3660.293962 meters looking forward 100.000000 meters along route # Maximum depth: 3679.711656 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3610.293962 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.973983; longitude = -108.868499; duration = 423; initialDepth = 3630.122367; finalDepth = 3610.293962; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.1585290000003 # Actual altitude: 56.1585290000003 # Commanded vehicle depth: 3610.293962 # Seafloor depth: -3660.293962 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 109.371465 meters # Minimum depth: 3680.122367 meters looking forward 100.000000 meters along route # Maximum depth: 3688.674993 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3630.122367 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.974295; longitude = -108.869481; duration = 437; initialDepth = 3623.970044; finalDepth = 3630.122367; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3630.122367 # Seafloor depth: -3680.122367 # 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 35 # Segment length 99.035970 meters # Minimum depth: 3673.970044 meters looking forward 100.000000 meters along route # Maximum depth: 3682.378784 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3623.970044 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.974617; longitude = -108.870497; duration = 396; # abortOnTimeout = True; initialDepth = 3614.490529; finalDepth = 3623.970044; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 58.4087399999999 # Actual altitude: 58.4087399999999 # Commanded vehicle depth: 3623.970044 # Seafloor depth: -3682.378784 # 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 34 # Segment length 123.450053 meters # Minimum depth: 3664.490529 meters looking forward 100.000000 meters along route # Maximum depth: 3685.377318 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3614.490529 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.973775; longitude = -108.870824; duration = 493; # abortOnTimeout = True; initialDepth = 3584.631090; finalDepth = 3614.490529; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.3915509999997 # Actual altitude: 59.3915509999997 # Commanded vehicle depth: 3614.490529 # Seafloor depth: -3673.882080 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 101.045842 meters # Minimum depth: 3634.631090 meters looking forward 100.000000 meters along route # Maximum depth: 3659.502426 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3584.631090 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.973411; longitude = -108.869678; duration = 404; initialDepth = 3584.676282; finalDepth = 3584.631090; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.8713360000002 # Actual altitude: 74.8713360000002 # Commanded vehicle depth: 3584.63109 # Seafloor depth: -3659.502426 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 100.039517 meters # Minimum depth: 3634.676282 meters looking forward 100.000000 meters along route # Maximum depth: 3639.101220 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3584.676282 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.973113; longitude = -108.868740; duration = 400; initialDepth = 3589.421322; finalDepth = 3584.676282; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.8713360000002 # Actual altitude: 74.8713360000002 # Commanded vehicle depth: 3584.676282 # Seafloor depth: -3634.676282 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 105.834812 meters # Minimum depth: 3639.421322 meters looking forward 100.000000 meters along route # Maximum depth: 3645.916346 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3589.421322 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.972818; longitude = -108.867811; duration = 423; initialDepth = 3596.729038; finalDepth = 3589.421322; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3589.421322 # Seafloor depth: -3639.421322 # 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 105.835096 meters # Minimum depth: 3646.729038 meters looking forward 100.000000 meters along route # Maximum depth: 3658.845755 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3596.729038 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.972505; longitude = -108.866828; duration = 423; initialDepth = 3610.126812; finalDepth = 3596.729038; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3596.729038 # Seafloor depth: -3646.729038 # 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 105.835381 meters # Minimum depth: 3660.126812 meters looking forward 100.000000 meters along route # Maximum depth: 3678.088825 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3610.126812 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.972193; longitude = -108.865846; duration = 423; initialDepth = 3628.884025; finalDepth = 3610.126812; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3610.126812 # Seafloor depth: -3660.126812 # 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 105.835665 meters # Minimum depth: 3678.884025 meters looking forward 100.000000 meters along route # Maximum depth: 3684.792925 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3628.884025 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.971881; longitude = -108.864863; duration = 423; initialDepth = 3631.218774; finalDepth = 3628.884025; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3628.884025 # Seafloor depth: -3678.884025 # 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 105.835949 meters # Minimum depth: 3681.218774 meters looking forward 100.000000 meters along route # Maximum depth: 3684.969924 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3631.218774 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.971569; longitude = -108.863880; duration = 423; initialDepth = 3626.669294; finalDepth = 3631.218774; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6542800000002 # Actual altitude: 53.6542800000002 # Commanded vehicle depth: 3631.218774 # Seafloor depth: -3684.873054 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 105.836234 meters # Minimum depth: 3676.669294 meters looking forward 100.000000 meters along route # Maximum depth: 3680.529999 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3626.669294 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.971256; longitude = -108.862898; duration = 423; initialDepth = 3627.796123; finalDepth = 3626.669294; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.8607050000001 # Actual altitude: 53.8607050000001 # Commanded vehicle depth: 3626.669294 # Seafloor depth: -3680.529999 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 105.836519 meters # Minimum depth: 3677.796123 meters looking forward 100.000000 meters along route # Maximum depth: 3682.812871 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3627.796123 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.970944; longitude = -108.861915; duration = 423; initialDepth = 3633.083551; finalDepth = 3627.796123; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.8607050000001 # Actual altitude: 53.8607050000001 # Commanded vehicle depth: 3627.796123 # Seafloor depth: -3677.796123 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 107.829205 meters # Minimum depth: 3683.083551 meters looking forward 100.000000 meters along route # Maximum depth: 3683.833445 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3633.083551 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.970632; longitude = -108.860932; duration = 431; initialDepth = 3633.526748; finalDepth = 3633.083551; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3633.083551 # Seafloor depth: -3683.083551 # 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 103.844685 meters # Minimum depth: 3683.526748 meters looking forward 100.000000 meters along route # Maximum depth: 3689.947744 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3633.526748 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.970314; longitude = -108.859931; duration = 415; initialDepth = 3641.933038; finalDepth = 3633.526748; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0557709999998 # Actual altitude: 50.0557709999998 # Commanded vehicle depth: 3633.526748 # Seafloor depth: -3683.582519 # 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 34 # Segment length 105.837372 meters # Minimum depth: 3691.933038 meters looking forward 100.000000 meters along route # Maximum depth: 3710.372856 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3641.933038 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.970007; longitude = -108.858967; duration = 423; initialDepth = 3661.899423; finalDepth = 3641.933038; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0557709999998 # Actual altitude: 50.0557709999998 # Commanded vehicle depth: 3641.933038 # Seafloor depth: -3691.933038 # 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 34 # Segment length 101.416664 meters # Minimum depth: 3711.899423 meters looking forward 100.000000 meters along route # Maximum depth: 3719.973114 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3661.899423 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.969695; longitude = -108.857985; duration = 405; initialDepth = 3667.525846; finalDepth = 3661.899423; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3661.899423 # Seafloor depth: -3711.899423 # 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 33 # Segment length 100.017647 meters # Minimum depth: 3717.525846 meters looking forward 100.000000 meters along route # Maximum depth: 3720.303101 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3667.525846 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.969396; longitude = -108.857043; duration = 400; # abortOnTimeout = True; initialDepth = 3660.158893; finalDepth = 3667.525846; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.777255 # Actual altitude: 52.777255 # Commanded vehicle depth: 3667.525846 # Seafloor depth: -3720.303101 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.39; 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 32 # Segment length 79.701307 meters # Minimum depth: 3710.158893 meters looking forward 100.000000 meters along route # Maximum depth: 3718.004321 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3660.158893 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.968543; longitude = -108.857365; duration = 318; # abortOnTimeout = True; initialDepth = 3647.773281; finalDepth = 3660.158893; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.267499 # Actual altitude: 57.267499 # Commanded vehicle depth: 3660.158893 # Seafloor depth: -3717.426392 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 103.527851 meters # Minimum depth: 3697.773281 meters looking forward 100.000000 meters along route # Maximum depth: 3709.898053 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3647.773281 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.968779; longitude = -108.858105; duration = 414; initialDepth = 3636.793639; finalDepth = 3647.773281; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.1247719999997 # Actual altitude: 62.1247719999997 # Commanded vehicle depth: 3647.773281 # Seafloor depth: -3709.898053 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 109.997567 meters # Minimum depth: 3686.793639 meters looking forward 100.000000 meters along route # Maximum depth: 3696.244894 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3636.793639 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.969085; longitude = -108.859065; duration = 439; initialDepth = 3636.299700; finalDepth = 3636.793639; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.1247719999997 # Actual altitude: 62.1247719999997 # Commanded vehicle depth: 3636.793639 # Seafloor depth: -3696.244894 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 101.761508 meters # Minimum depth: 3686.299700 meters looking forward 100.000000 meters along route # Maximum depth: 3687.787951 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3636.299700 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.969411; longitude = -108.860086; duration = 407; initialDepth = 3638.060406; finalDepth = 3636.299700; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.4512549999999 # Actual altitude: 59.4512549999999 # Commanded vehicle depth: 3636.2997 # Seafloor depth: -3686.667254 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 105.879109 meters # Minimum depth: 3688.060406 meters looking forward 100.000000 meters along route # Maximum depth: 3688.788080 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3638.060406 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.969712; longitude = -108.861031; duration = 423; initialDepth = 3639.050972; finalDepth = 3638.060406; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3675539999999 # Actual altitude: 50.3675539999999 # Commanded vehicle depth: 3638.060406 # Seafloor depth: -3688.060406 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 105.878824 meters # Minimum depth: 3689.050972 meters looking forward 100.000000 meters along route # Maximum depth: 3691.310678 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3639.050972 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.970026; longitude = -108.862013; duration = 423; initialDepth = 3632.573869; finalDepth = 3639.050972; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3639.050972 # Seafloor depth: -3689.050972 # 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 32 # Segment length 105.878539 meters # Minimum depth: 3682.573869 meters looking forward 100.000000 meters along route # Maximum depth: 3689.380018 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3632.573869 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.970339; longitude = -108.862996; duration = 423; initialDepth = 3615.668160; finalDepth = 3632.573869; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.806149 # Actual altitude: 56.806149 # Commanded vehicle depth: 3632.573869 # Seafloor depth: -3689.380018 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 105.878254 meters # Minimum depth: 3665.668160 meters looking forward 100.000000 meters along route # Maximum depth: 3681.665009 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3615.668160 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.970652; longitude = -108.863979; duration = 423; initialDepth = 3591.389686; finalDepth = 3615.668160; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.9968489999997 # Actual altitude: 65.9968489999997 # Commanded vehicle depth: 3615.66816 # Seafloor depth: -3681.665009 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 105.877968 meters # Minimum depth: 3641.389686 meters looking forward 100.000000 meters along route # Maximum depth: 3664.057835 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3591.389686 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.970966; longitude = -108.864961; duration = 423; initialDepth = 3571.456859; finalDepth = 3591.389686; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.6681490000001 # Actual altitude: 72.6681490000001 # Commanded vehicle depth: 3591.389686 # Seafloor depth: -3664.057835 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 105.877684 meters # Minimum depth: 3621.456859 meters looking forward 100.000000 meters along route # Maximum depth: 3638.982071 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3571.456859 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.971279; longitude = -108.865944; duration = 423; initialDepth = 3563.174961; finalDepth = 3571.456859; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.6681490000001 # Actual altitude: 72.6681490000001 # Commanded vehicle depth: 3571.456859 # Seafloor depth: -3638.982071 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 105.877398 meters # Minimum depth: 3613.174961 meters looking forward 100.000000 meters along route # Maximum depth: 3620.925607 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3563.174961 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.971592; longitude = -108.866926; duration = 423; initialDepth = 3562.702940; finalDepth = 3563.174961; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.525212 # Actual altitude: 67.525212 # Commanded vehicle depth: 3563.174961 # Seafloor depth: -3620.925607 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 105.877113 meters # Minimum depth: 3612.702940 meters looking forward 100.000000 meters along route # Maximum depth: 3617.451141 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3562.702940 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.971906; longitude = -108.867909; duration = 423; initialDepth = 3567.701999; finalDepth = 3562.702940; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.750646 # Actual altitude: 57.750646 # Commanded vehicle depth: 3562.70294 # Seafloor depth: -3612.879821 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 105.876828 meters # Minimum depth: 3617.701999 meters looking forward 100.000000 meters along route # Maximum depth: 3638.758877 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3567.701999 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.972219; longitude = -108.868892; duration = 423; initialDepth = 3593.374121; finalDepth = 3567.701999; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1768809999999 # Actual altitude: 50.1768809999999 # Commanded vehicle depth: 3567.701999 # Seafloor depth: -3617.701999 # 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 32 # Segment length 106.203363 meters # Minimum depth: 3643.374121 meters looking forward 100.000000 meters along route # Maximum depth: 3671.311948 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3593.374121 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.972533; longitude = -108.869874; duration = 424; initialDepth = 3604.087084; finalDepth = 3593.374121; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3593.374121 # Seafloor depth: -3643.374121 # 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 100.016643 meters # Minimum depth: 3654.087084 meters looking forward 100.000000 meters along route # Maximum depth: 3667.262986 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3604.087084 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.972847; longitude = -108.870860; duration = 400; # abortOnTimeout = True; initialDepth = 3597.148825; finalDepth = 3604.087084; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 61.4423350000002 # Actual altitude: 61.4423350000002 # Commanded vehicle depth: 3604.087084 # Seafloor depth: -3665.529419 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 30 # Segment length 87.960646 meters # Minimum depth: 3647.148825 meters looking forward 100.000000 meters along route # Maximum depth: 3656.524709 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3597.148825 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.971994; longitude = -108.871182; duration = 351; # abortOnTimeout = True; initialDepth = 3566.348382; finalDepth = 3597.148825; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.4423350000002 # Actual altitude: 61.4423350000002 # Commanded vehicle depth: 3597.148825 # Seafloor depth: -3652.480225 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 105.877382 meters # Minimum depth: 3616.348382 meters looking forward 100.000000 meters along route # Maximum depth: 3644.766226 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3566.348382 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.971734; longitude = -108.870366; duration = 423; initialDepth = 3539.969609; finalDepth = 3566.348382; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.4178440000001 # Actual altitude: 78.4178440000001 # Commanded vehicle depth: 3566.348382 # Seafloor depth: -3644.766226 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 105.877666 meters # Minimum depth: 3589.969609 meters looking forward 100.000000 meters along route # Maximum depth: 3613.636287 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3539.969609 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.971420; longitude = -108.869383; duration = 423; initialDepth = 3534.148898; finalDepth = 3539.969609; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.4178440000001 # Actual altitude: 78.4178440000001 # Commanded vehicle depth: 3539.969609 # Seafloor depth: -3613.636287 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 105.877952 meters # Minimum depth: 3584.148898 meters looking forward 100.000000 meters along route # Maximum depth: 3588.909747 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3534.148898 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.971107; longitude = -108.868400; duration = 423; initialDepth = 3535.650275; finalDepth = 3534.148898; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.6666779999996 # Actual altitude: 73.6666779999996 # Commanded vehicle depth: 3534.148898 # Seafloor depth: -3588.909747 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 101.052056 meters # Minimum depth: 3585.650275 meters looking forward 100.000000 meters along route # Maximum depth: 3599.430381 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3535.650275 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.970793; longitude = -108.867418; duration = 404; initialDepth = 3550.748431; finalDepth = 3535.650275; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7608490000002 # Actual altitude: 54.7608490000002 # Commanded vehicle depth: 3535.650275 # Seafloor depth: -3585.650275 # 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 30 # Segment length 100.116839 meters # Minimum depth: 3600.748431 meters looking forward 100.000000 meters along route # Maximum depth: 3625.899224 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3550.748431 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.970494; longitude = -108.866480; duration = 400; initialDepth = 3577.574657; finalDepth = 3550.748431; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3550.748431 # Seafloor depth: -3600.748431 # 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 30 # Segment length 105.878779 meters # Minimum depth: 3628.234554 meters looking forward 100.000000 meters along route # Maximum depth: 3646.011360 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3577.574657 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.970198; longitude = -108.865551; duration = 423; initialDepth = 3597.717365; finalDepth = 3577.574657; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6598973203968 # Actual altitude: 50.6598973203968 # Commanded vehicle depth: 3577.5746566796 # Seafloor depth: -3628.234554 # 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 30 # Segment length 105.879064 meters # Minimum depth: 3647.717365 meters looking forward 100.000000 meters along route # Maximum depth: 3671.551877 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3597.717365 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.969885; longitude = -108.864568; duration = 423; initialDepth = 3623.477898; finalDepth = 3597.717365; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6598973203968 # Actual altitude: 50.6598973203968 # Commanded vehicle depth: 3597.717365 # Seafloor depth: -3647.717365 # 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 30 # Segment length 105.879349 meters # Minimum depth: 3673.477898 meters looking forward 100.000000 meters along route # Maximum depth: 3690.806876 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3623.477898 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.969571; longitude = -108.863586; duration = 423; initialDepth = 3641.250469; finalDepth = 3623.477898; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3623.477898 # Seafloor depth: -3673.477898 # 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 30 # Segment length 105.879635 meters # Minimum depth: 3691.250469 meters looking forward 100.000000 meters along route # Maximum depth: 3696.972714 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3641.250469 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.969258; longitude = -108.862603; duration = 423; initialDepth = 3647.155815; finalDepth = 3641.250469; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3641.250469 # Seafloor depth: -3691.250469 # 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 30 # Segment length 105.879919 meters # Minimum depth: 3697.155815 meters looking forward 100.000000 meters along route # Maximum depth: 3699.494507 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3647.155815 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.968944; longitude = -108.861620; duration = 423; initialDepth = 3649.977251; finalDepth = 3647.155815; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3647.155815 # Seafloor depth: -3697.155815 # 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 30 # Segment length 105.880205 meters # Minimum depth: 3699.977251 meters looking forward 100.000000 meters along route # Maximum depth: 3705.294309 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3649.977251 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.968631; longitude = -108.860638; duration = 423; initialDepth = 3655.487582; finalDepth = 3649.977251; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3649.977251 # Seafloor depth: -3699.977251 # 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 30 # Segment length 105.880491 meters # Minimum depth: 3705.487582 meters looking forward 100.000000 meters along route # Maximum depth: 3710.155207 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3655.487582 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.968318; longitude = -108.859655; duration = 423; initialDepth = 3660.542593; finalDepth = 3655.487582; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3655.487582 # Seafloor depth: -3705.487582 # 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 30 # Segment length 106.181609 meters # Minimum depth: 3710.542593 meters looking forward 100.000000 meters along route # Maximum depth: 3715.374270 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3660.542593 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.968004; longitude = -108.858672; duration = 424; initialDepth = 3665.398153; finalDepth = 3660.542593; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3660.542593 # Seafloor depth: -3710.542593 # 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 29 # Segment length 99.913081 meters # Minimum depth: 3715.398153 meters looking forward 100.000000 meters along route # Maximum depth: 3717.566629 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3665.398153 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.967690; longitude = -108.857687; duration = 399; # abortOnTimeout = True; initialDepth = 3665.448740; finalDepth = 3665.398153; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.4430950000001 # Actual altitude: 50.4430950000001 # Commanded vehicle depth: 3665.398153 # Seafloor depth: -3715.841248 # 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; } # ####################################################### # # 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 82.071668 meters # Minimum depth: 3715.448740 meters looking forward 100.000000 meters along route # Maximum depth: 3717.704956 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3665.448740 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.966838; longitude = -108.858009; duration = 328; # abortOnTimeout = True; initialDepth = 3661.891785; finalDepth = 3665.448740; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2562160000002 # Actual altitude: 52.2562160000002 # Commanded vehicle depth: 3665.44874 # Seafloor depth: -3717.704956 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 105.878513 meters # Minimum depth: 3711.891785 meters looking forward 100.000000 meters along route # Maximum depth: 3715.259703 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3661.891785 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.967081; longitude = -108.858771; duration = 423; initialDepth = 3655.957472; finalDepth = 3661.891785; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.3679180000004 # Actual altitude: 53.3679180000004 # Commanded vehicle depth: 3661.891785 # Seafloor depth: -3715.259703 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 105.878228 meters # Minimum depth: 3705.957472 meters looking forward 100.000000 meters along route # Maximum depth: 3711.513659 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3655.957472 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.967394; longitude = -108.859753; duration = 423; initialDepth = 3651.030036; finalDepth = 3655.957472; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.5561870000001 # Actual altitude: 55.5561870000001 # Commanded vehicle depth: 3655.957472 # Seafloor depth: -3711.513659 # 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 28 # Segment length 105.877942 meters # Minimum depth: 3701.030036 meters looking forward 100.000000 meters along route # Maximum depth: 3705.658011 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3651.030036 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.967708; longitude = -108.860736; duration = 423; initialDepth = 3641.200865; finalDepth = 3651.030036; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.5561870000001 # Actual altitude: 55.5561870000001 # Commanded vehicle depth: 3651.030036 # Seafloor depth: -3705.658011 # 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 28 # Segment length 105.877658 meters # Minimum depth: 3691.200865 meters looking forward 100.000000 meters along route # Maximum depth: 3700.721981 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3641.200865 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.968021; longitude = -108.861719; duration = 423; initialDepth = 3625.671201; finalDepth = 3641.200865; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.5211160000003 # Actual altitude: 59.5211160000003 # Commanded vehicle depth: 3641.200865 # Seafloor depth: -3700.721981 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 105.877372 meters # Minimum depth: 3675.671201 meters looking forward 100.000000 meters along route # Maximum depth: 3690.953811 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3625.671201 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.968334; longitude = -108.862701; duration = 423; initialDepth = 3583.771131; finalDepth = 3625.671201; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.2826099999997 # Actual altitude: 65.2826099999997 # Commanded vehicle depth: 3625.671201 # Seafloor depth: -3690.953811 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 105.877087 meters # Minimum depth: 3633.771131 meters looking forward 100.000000 meters along route # Maximum depth: 3672.431639 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3583.771131 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.968647; longitude = -108.863684; duration = 423; initialDepth = 3573.125181; finalDepth = 3583.771131; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.6605079999999 # Actual altitude: 88.6605079999999 # Commanded vehicle depth: 3583.771131 # Seafloor depth: -3672.431639 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 105.876801 meters # Minimum depth: 3623.125181 meters looking forward 100.000000 meters along route # Maximum depth: 3633.655497 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3573.125181 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.968961; longitude = -108.864666; duration = 423; initialDepth = 3538.368965; finalDepth = 3573.125181; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.6605079999999 # Actual altitude: 88.6605079999999 # Commanded vehicle depth: 3573.125181 # Seafloor depth: -3633.655497 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 107.252351 meters # Minimum depth: 3588.368965 meters looking forward 100.000000 meters along route # Maximum depth: 3621.969945 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3538.368965 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.969274; longitude = -108.865649; duration = 429; initialDepth = 3519.862683; finalDepth = 3538.368965; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.6009799999997 # Actual altitude: 83.6009799999997 # Commanded vehicle depth: 3538.368965 # Seafloor depth: -3621.969945 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 104.500398 meters # Minimum depth: 3569.862683 meters looking forward 100.000000 meters along route # Maximum depth: 3587.839698 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3519.862683 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.969591; longitude = -108.866644; duration = 418; initialDepth = 3519.844789; finalDepth = 3519.862683; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.6009799999997 # Actual altitude: 83.6009799999997 # Commanded vehicle depth: 3519.862683 # Seafloor depth: -3587.839698 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 109.067117 meters # Minimum depth: 3569.844789 meters looking forward 100.000000 meters along route # Maximum depth: 3582.014158 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3519.844789 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.969901; longitude = -108.867614; duration = 436; initialDepth = 3532.788436; finalDepth = 3519.844789; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.9770150000004 # Actual altitude: 67.9770150000004 # Commanded vehicle depth: 3519.844789 # Seafloor depth: -3569.844789 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 102.684491 meters # Minimum depth: 3582.788436 meters looking forward 100.000000 meters along route # Maximum depth: 3607.070345 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3532.788436 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.970223; longitude = -108.868627; duration = 410; initialDepth = 3559.493344; finalDepth = 3532.788436; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3532.788436 # Seafloor depth: -3582.788436 # 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 28 # Segment length 105.875377 meters # Minimum depth: 3609.493344 meters looking forward 100.000000 meters along route # Maximum depth: 3632.513768 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3559.493344 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.970527; longitude = -108.869580; duration = 423; initialDepth = 3585.609930; finalDepth = 3559.493344; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3559.493344 # Seafloor depth: -3609.493344 # 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 28 # Segment length 101.478545 meters # Minimum depth: 3635.609930 meters looking forward 100.000000 meters along route # Maximum depth: 3647.376721 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3585.609930 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.970841; longitude = -108.870562; duration = 405; initialDepth = 3567.095822; finalDepth = 3585.609930; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3585.60993 # Seafloor depth: -3635.609930 # 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 27 # Segment length 100.016731 meters # Minimum depth: 3617.095822 meters looking forward 100.000000 meters along route # Maximum depth: 3639.059387 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3567.095822 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.971141; longitude = -108.871504; duration = 400; # abortOnTimeout = True; initialDepth = 3568.130432; finalDepth = 3567.095822; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 71.9635649999996 # Actual altitude: 71.9635649999996 # Commanded vehicle depth: 3567.095822 # Seafloor depth: -3639.059387 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 147.064260 meters # Minimum depth: 3618.130432 meters looking forward 100.000000 meters along route # Maximum depth: 3633.362731 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3568.130432 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.970288; longitude = -108.871826; duration = 588; # abortOnTimeout = True; initialDepth = 3547.043295; finalDepth = 3568.130432; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.9635649999996 # Actual altitude: 71.9635649999996 # Commanded vehicle depth: 3568.130432 # Seafloor depth: -3618.130432 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 106.094466 meters # Minimum depth: 3597.043295 meters looking forward 100.000000 meters along route # Maximum depth: 3620.788211 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3547.043295 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.969845; longitude = -108.870464; duration = 424; initialDepth = 3523.615850; finalDepth = 3547.043295; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.7449160000001 # Actual altitude: 73.7449160000001 # Commanded vehicle depth: 3547.043295 # Seafloor depth: -3620.788211 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 106.094755 meters # Minimum depth: 3573.615850 meters looking forward 100.000000 meters along route # Maximum depth: 3593.495536 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3523.615850 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.969526; longitude = -108.869481; duration = 424; initialDepth = 3517.525842; finalDepth = 3523.615850; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.7449160000001 # Actual altitude: 73.7449160000001 # Commanded vehicle depth: 3523.61585 # Seafloor depth: -3593.495536 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 106.095044 meters # Minimum depth: 3567.525842 meters looking forward 100.000000 meters along route # Maximum depth: 3572.457721 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3517.525842 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.969207; longitude = -108.868499; duration = 424; initialDepth = 3519.742605; finalDepth = 3517.525842; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.8796859999998 # Actual altitude: 69.8796859999998 # Commanded vehicle depth: 3517.525842 # Seafloor depth: -3572.457721 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 106.095333 meters # Minimum depth: 3569.742605 meters looking forward 100.000000 meters along route # Maximum depth: 3599.151806 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3519.742605 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.968888; longitude = -108.867516; duration = 424; initialDepth = 3548.170763; finalDepth = 3519.742605; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.9318790000002 # Actual altitude: 54.9318790000002 # Commanded vehicle depth: 3519.742605 # Seafloor depth: -3569.742605 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 110.028599 meters # Minimum depth: 3602.829344 meters looking forward 100.000000 meters along route # Maximum depth: 3622.699660 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3548.170763 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.968568; longitude = -108.866533; duration = 440; initialDepth = 3573.049120; finalDepth = 3548.170763; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.6585807097586 # Actual altitude: 54.6585807097586 # Commanded vehicle depth: 3548.17076329024 # Seafloor depth: -3602.829344 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.162934 meters # Minimum depth: 3623.049120 meters looking forward 100.000000 meters along route # Maximum depth: 3640.563527 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3573.049120 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.968237; longitude = -108.865514; duration = 408; initialDepth = 3594.257014; finalDepth = 3573.049120; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.6585807097586 # Actual altitude: 54.6585807097586 # Commanded vehicle depth: 3573.04912 # Seafloor depth: -3623.049120 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 107.851891 meters # Minimum depth: 3644.257014 meters looking forward 100.000000 meters along route # Maximum depth: 3675.807783 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3594.257014 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.967930; longitude = -108.864568; duration = 431; initialDepth = 3623.155841; finalDepth = 3594.257014; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3594.257014 # Seafloor depth: -3644.257014 # 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 26 # Segment length 104.340798 meters # Minimum depth: 3676.216036 meters looking forward 100.000000 meters along route # Maximum depth: 3694.136411 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3623.155841 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.967605; longitude = -108.863569; duration = 417; initialDepth = 3645.755569; finalDepth = 3623.155841; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0601954206072 # Actual altitude: 53.0601954206072 # Commanded vehicle depth: 3623.15584057939 # Seafloor depth: -3676.216036 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 106.096779 meters # Minimum depth: 3695.755569 meters looking forward 100.000000 meters along route # Maximum depth: 3705.015635 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3645.755569 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.967291; longitude = -108.862603; duration = 424; initialDepth = 3655.036220; finalDepth = 3645.755569; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0601954206072 # Actual altitude: 53.0601954206072 # Commanded vehicle depth: 3645.755569 # Seafloor depth: -3695.755569 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 109.624215 meters # Minimum depth: 3705.036220 meters looking forward 100.000000 meters along route # Maximum depth: 3710.420142 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3655.036220 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.966972; longitude = -108.861620; duration = 438; initialDepth = 3660.514221; finalDepth = 3655.036220; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3655.03622 # Seafloor depth: -3705.036220 # 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 25 # Segment length 103.420078 meters # Minimum depth: 3710.514221 meters looking forward 100.000000 meters along route # Maximum depth: 3710.813506 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3660.514221 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.966642; longitude = -108.860605; duration = 413; # abortOnTimeout = True; initialDepth = 3657.617155; finalDepth = 3660.514221; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3660.514221 # Seafloor depth: -3710.514221 # 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 24 # Segment length 113.228771 meters # Minimum depth: 3707.617155 meters looking forward 100.000000 meters along route # Maximum depth: 3710.609680 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3657.617155 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.965769; longitude = -108.860965; duration = 452; # abortOnTimeout = True; initialDepth = 3644.953602; finalDepth = 3657.617155; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9925250000001 # Actual altitude: 52.9925250000001 # Commanded vehicle depth: 3657.617155 # Seafloor depth: -3710.609680 # 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 24 # Segment length 106.353374 meters # Minimum depth: 3694.953602 meters looking forward 100.000000 meters along route # Maximum depth: 3707.095332 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3644.953602 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.966111; longitude = -108.862013; duration = 425; initialDepth = 3630.131748; finalDepth = 3644.953602; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.1417299999998 # Actual altitude: 62.1417299999998 # Commanded vehicle depth: 3644.953602 # Seafloor depth: -3707.095332 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 105.907451 meters # Minimum depth: 3680.131748 meters looking forward 100.000000 meters along route # Maximum depth: 3694.921001 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3630.131748 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.966431; longitude = -108.862998; duration = 423; initialDepth = 3597.900210; finalDepth = 3630.131748; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.7892530000004 # Actual altitude: 64.7892530000004 # Commanded vehicle depth: 3630.131748 # Seafloor depth: -3694.921001 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 106.129978 meters # Minimum depth: 3647.900210 meters looking forward 100.000000 meters along route # Maximum depth: 3677.849988 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3597.900210 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.966751; longitude = -108.863979; duration = 424; initialDepth = 3574.516516; finalDepth = 3597.900210; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.9497780000002 # Actual altitude: 79.9497780000002 # Commanded vehicle depth: 3597.90021 # Seafloor depth: -3677.849988 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 106.129689 meters # Minimum depth: 3624.516516 meters looking forward 100.000000 meters along route # Maximum depth: 3647.104134 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3574.516516 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.967071; longitude = -108.864961; duration = 424; initialDepth = 3566.534890; finalDepth = 3574.516516; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.9497780000002 # Actual altitude: 79.9497780000002 # Commanded vehicle depth: 3574.516516 # Seafloor depth: -3647.104134 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.818829 meters # Minimum depth: 3616.534890 meters looking forward 100.000000 meters along route # Maximum depth: 3623.776149 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3566.534890 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.967391; longitude = -108.865944; duration = 403; initialDepth = 3541.801807; finalDepth = 3566.534890; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.587618 # Actual altitude: 72.587618 # Commanded vehicle depth: 3566.53489 # Seafloor depth: -3623.776149 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.826781 meters # Minimum depth: 3591.801807 meters looking forward 100.000000 meters along route # Maximum depth: 3615.605217 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3541.801807 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.967695; longitude = -108.866877; duration = 403; initialDepth = 3522.625685; finalDepth = 3541.801807; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.80341 # Actual altitude: 73.80341 # Commanded vehicle depth: 3541.801807 # Seafloor depth: -3615.605217 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 108.664500 meters # Minimum depth: 3572.625685 meters looking forward 100.000000 meters along route # Maximum depth: 3588.648066 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3522.625685 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.968000; longitude = -108.867811; duration = 434; initialDepth = 3522.722651; finalDepth = 3522.625685; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.80341 # Actual altitude: 73.80341 # Commanded vehicle depth: 3522.625685 # Seafloor depth: -3588.648066 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 103.592908 meters # Minimum depth: 3572.722651 meters looking forward 100.000000 meters along route # Maximum depth: 3588.966266 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3522.722651 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.968327; longitude = -108.868817; duration = 414; initialDepth = 3542.155614; finalDepth = 3522.722651; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.0223810000002 # Actual altitude: 66.0223810000002 # Commanded vehicle depth: 3522.722651 # Seafloor depth: -3572.722651 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 106.128269 meters # Minimum depth: 3592.155614 meters looking forward 100.000000 meters along route # Maximum depth: 3613.585146 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3542.155614 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.968640; longitude = -108.869776; duration = 424; initialDepth = 3563.606124; finalDepth = 3542.155614; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3542.155614 # Seafloor depth: -3592.155614 # 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 24 # Segment length 109.656557 meters # Minimum depth: 3613.606124 meters looking forward 100.000000 meters along route # Maximum depth: 3623.127131 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3563.606124 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.968960; longitude = -108.870759; duration = 438; initialDepth = 3563.818322; finalDepth = 3563.606124; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3563.606124 # Seafloor depth: -3613.606124 # 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 23 # Segment length 96.251011 meters # Minimum depth: 3613.818322 meters looking forward 100.000000 meters along route # Maximum depth: 3617.635464 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3563.818322 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.969291; longitude = -108.871774; duration = 385; # abortOnTimeout = True; initialDepth = 3563.818322; finalDepth = 3563.818322; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.927467 # Actual altitude: 51.927467 # Commanded vehicle depth: 3563.818322 # Seafloor depth: -3615.745789 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 81.255857 meters # Minimum depth: 3613.818322 meters looking forward 100.000000 meters along route # Maximum depth: 3623.757280 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3563.818322 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.968448; longitude = -108.872003; duration = 325; # abortOnTimeout = True; initialDepth = 3544.579699; finalDepth = 3563.818322; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.927467 # Actual altitude: 51.927467 # Commanded vehicle depth: 3563.818322 # Seafloor depth: -3614.662659 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.648671 meters # Minimum depth: 3594.579699 meters looking forward 100.000000 meters along route # Maximum depth: 3620.092048 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3544.579699 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.968205; longitude = -108.871250; duration = 438; initialDepth = 3530.998756; finalDepth = 3544.579699; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.5123490000001 # Actual altitude: 75.5123490000001 # Commanded vehicle depth: 3544.579699 # Seafloor depth: -3620.092048 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.426017 meters # Minimum depth: 3580.998756 meters looking forward 100.000000 meters along route # Maximum depth: 3593.652970 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3530.998756 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.967876; longitude = -108.870234; duration = 409; initialDepth = 3531.922647; finalDepth = 3530.998756; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.5123490000001 # Actual altitude: 75.5123490000001 # Commanded vehicle depth: 3530.998756 # Seafloor depth: -3593.652970 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 108.520502 meters # Minimum depth: 3581.922647 meters looking forward 100.000000 meters along route # Maximum depth: 3603.546907 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3531.922647 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.967569; longitude = -108.869285; duration = 434; initialDepth = 3554.062209; finalDepth = 3531.922647; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.6542140000001 # Actual altitude: 62.6542140000001 # Commanded vehicle depth: 3531.922647 # Seafloor depth: -3581.922647 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 103.555338 meters # Minimum depth: 3604.062209 meters looking forward 100.000000 meters along route # Maximum depth: 3619.556260 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3554.062209 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.967244; longitude = -108.868279; duration = 414; initialDepth = 3571.195738; finalDepth = 3554.062209; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3554.062209 # Seafloor depth: -3604.062209 # 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 22 # Segment length 107.392321 meters # Minimum depth: 3621.195738 meters looking forward 100.000000 meters along route # Maximum depth: 3631.293100 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3571.195738 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.966934; longitude = -108.867320; duration = 429; initialDepth = 3581.390788; finalDepth = 3571.195738; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3571.195738 # Seafloor depth: -3621.195738 # 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 22 # Segment length 104.684671 meters # Minimum depth: 3631.390788 meters looking forward 100.000000 meters along route # Maximum depth: 3644.761017 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3581.390788 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.966612; longitude = -108.866324; duration = 418; initialDepth = 3597.902673; finalDepth = 3581.390788; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3581.390788 # Seafloor depth: -3631.390788 # 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 22 # Segment length 106.264128 meters # Minimum depth: 3647.902673 meters looking forward 100.000000 meters along route # Maximum depth: 3681.792997 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3597.902673 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.966298; longitude = -108.865354; duration = 425; initialDepth = 3626.376060; finalDepth = 3597.902673; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3597.902673 # Seafloor depth: -3647.902673 # 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 22 # Segment length 105.814016 meters # Minimum depth: 3681.826877 meters looking forward 100.000000 meters along route # Maximum depth: 3689.047846 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3626.376060 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.965980; longitude = -108.864370; duration = 423; initialDepth = 3639.833008; finalDepth = 3626.376060; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.4508172266296 # Actual altitude: 55.4508172266296 # Commanded vehicle depth: 3626.37605977337 # Seafloor depth: -3681.826877 # 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 22 # Segment length 106.039503 meters # Minimum depth: 3689.833008 meters looking forward 100.000000 meters along route # Maximum depth: 3704.512377 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3639.833008 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.965663; longitude = -108.863389; duration = 424; initialDepth = 3654.652954; finalDepth = 3639.833008; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.4508172266296 # Actual altitude: 55.4508172266296 # Commanded vehicle depth: 3639.833008 # Seafloor depth: -3689.833008 # 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 22 # Segment length 109.575827 meters # Minimum depth: 3704.652954 meters looking forward 100.000000 meters along route # Maximum depth: 3712.082707 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3654.652954 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.965345; longitude = -108.862406; duration = 438; initialDepth = 3662.058716; finalDepth = 3654.652954; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3654.652954 # Seafloor depth: -3704.652954 # 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 21 # Segment length 98.548591 meters # Minimum depth: 3712.058716 meters looking forward 100.000000 meters along route # Maximum depth: 3713.266335 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3662.058716 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.965017; longitude = -108.861391; duration = 394; # abortOnTimeout = True; initialDepth = 3648.764000; finalDepth = 3662.058716; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3662.058716 # Seafloor depth: -3712.058716 # 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 20 # Segment length 120.027249 meters # Minimum depth: 3698.764000 meters looking forward 100.000000 meters along route # Maximum depth: 3712.039856 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3648.764000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.964204; longitude = -108.861784; duration = 480; # abortOnTimeout = True; initialDepth = 3635.866310; finalDepth = 3648.764000; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.2758559999997 # Actual altitude: 63.2758559999997 # Commanded vehicle depth: 3648.764 # Seafloor depth: -3712.039856 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 105.900130 meters # Minimum depth: 3685.866310 meters looking forward 100.000000 meters along route # Maximum depth: 3697.194403 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3635.866310 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.964560; longitude = -108.862898; duration = 423; initialDepth = 3630.919455; finalDepth = 3635.866310; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.2758559999997 # Actual altitude: 63.2758559999997 # Commanded vehicle depth: 3635.86631 # Seafloor depth: -3697.194403 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 105.899844 meters # Minimum depth: 3680.919455 meters looking forward 100.000000 meters along route # Maximum depth: 3685.588090 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3630.919455 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.964874; longitude = -108.863880; duration = 423; initialDepth = 3612.053613; finalDepth = 3630.919455; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.3280930000001 # Actual altitude: 61.3280930000001 # Commanded vehicle depth: 3630.919455 # Seafloor depth: -3685.588090 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 105.899559 meters # Minimum depth: 3662.053613 meters looking forward 100.000000 meters along route # Maximum depth: 3680.093539 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3612.053613 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.965187; longitude = -108.864863; duration = 423; initialDepth = 3596.128611; finalDepth = 3612.053613; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.0399259999999 # Actual altitude: 68.0399259999999 # Commanded vehicle depth: 3612.053613 # Seafloor depth: -3680.093539 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 105.899273 meters # Minimum depth: 3646.128611 meters looking forward 100.000000 meters along route # Maximum depth: 3660.433917 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3596.128611 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.965501; longitude = -108.865846; duration = 423; initialDepth = 3575.105693; finalDepth = 3596.128611; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.0399259999999 # Actual altitude: 68.0399259999999 # Commanded vehicle depth: 3596.128611 # Seafloor depth: -3660.433917 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 105.898988 meters # Minimum depth: 3625.105693 meters looking forward 100.000000 meters along route # Maximum depth: 3645.009110 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3575.105693 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.965815; longitude = -108.866828; duration = 423; initialDepth = 3562.082802; finalDepth = 3575.105693; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.903417 # Actual altitude: 69.903417 # Commanded vehicle depth: 3575.105693 # Seafloor depth: -3645.009110 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.95; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 105.898702 meters # Minimum depth: 3612.082802 meters looking forward 100.000000 meters along route # Maximum depth: 3623.452906 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3562.082802 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.966129; longitude = -108.867811; duration = 423; initialDepth = 3552.817415; finalDepth = 3562.082802; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.903417 # Actual altitude: 69.903417 # Commanded vehicle depth: 3562.082802 # Seafloor depth: -3623.452906 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.95; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 105.898417 meters # Minimum depth: 3602.817415 meters looking forward 100.000000 meters along route # Maximum depth: 3611.677789 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3552.817415 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.966443; longitude = -108.868793; duration = 423; initialDepth = 3552.643121; finalDepth = 3552.817415; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.3701040000001 # Actual altitude: 61.3701040000001 # Commanded vehicle depth: 3552.817415 # Seafloor depth: -3611.677789 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 105.898132 meters # Minimum depth: 3602.643121 meters looking forward 100.000000 meters along route # Maximum depth: 3612.857543 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3552.643121 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.966757; longitude = -108.869776; duration = 423; initialDepth = 3563.508786; finalDepth = 3552.643121; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.8603739999999 # Actual altitude: 58.8603739999999 # Commanded vehicle depth: 3552.643121 # Seafloor depth: -3602.662180 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 109.418773 meters # Minimum depth: 3613.508786 meters looking forward 100.000000 meters along route # Maximum depth: 3636.253055 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3563.508786 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.967071; longitude = -108.870759; duration = 437; initialDepth = 3585.149780; finalDepth = 3563.508786; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.0190589999997 # Actual altitude: 50.0190589999997 # Commanded vehicle depth: 3563.508786 # Seafloor depth: -3613.508786 # 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; } # ####################################################### # # 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 110.563914 meters # Minimum depth: 3635.149780 meters looking forward 100.000000 meters along route # Maximum depth: 3651.339404 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3585.149780 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.967395; longitude = -108.871774; duration = 442; # abortOnTimeout = True; initialDepth = 3579.873359; finalDepth = 3585.149780; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3585.14978 # Seafloor depth: -3635.149780 # 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 18 # Segment length 99.001483 meters # Minimum depth: 3629.873359 meters looking forward 100.000000 meters along route # Maximum depth: 3651.634827 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3579.873359 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.966401; longitude = -108.871676; duration = 396; # abortOnTimeout = True; initialDepth = 3561.392752; finalDepth = 3579.873359; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.7614679999997 # Actual altitude: 71.7614679999997 # Commanded vehicle depth: 3579.873359 # Seafloor depth: -3651.634827 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 106.052595 meters # Minimum depth: 3611.392752 meters looking forward 100.000000 meters along route # Maximum depth: 3626.871350 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3561.392752 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.966104; longitude = -108.870759; duration = 424; initialDepth = 3561.364371; finalDepth = 3561.392752; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.7614679999997 # Actual altitude: 71.7614679999997 # Commanded vehicle depth: 3561.392752 # Seafloor depth: -3626.871350 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 106.052883 meters # Minimum depth: 3611.364371 meters looking forward 100.000000 meters along route # Maximum depth: 3623.885924 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3561.364371 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.965786; longitude = -108.869776; duration = 424; initialDepth = 3575.886954; finalDepth = 3561.364371; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.4785979999997 # Actual altitude: 65.4785979999997 # Commanded vehicle depth: 3561.364371 # Seafloor depth: -3611.364371 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.197147 meters # Minimum depth: 3625.886954 meters looking forward 100.000000 meters along route # Maximum depth: 3645.456874 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3575.886954 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.965468; longitude = -108.868793; duration = 400; initialDepth = 3596.588624; finalDepth = 3575.886954; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3575.886954 # Seafloor depth: -3625.886954 # 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 18 # Segment length 101.304126 meters # Minimum depth: 3646.588624 meters looking forward 100.000000 meters along route # Maximum depth: 3665.603631 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3596.588624 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.965167; longitude = -108.867865; duration = 405; initialDepth = 3617.037803; finalDepth = 3596.588624; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3596.588624 # Seafloor depth: -3646.588624 # 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 18 # Segment length 109.424582 meters # Minimum depth: 3667.037803 meters looking forward 100.000000 meters along route # Maximum depth: 3674.862814 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3617.037803 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.964864; longitude = -108.866926; duration = 437; initialDepth = 3625.166316; finalDepth = 3617.037803; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3617.037803 # Seafloor depth: -3667.037803 # 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 18 # Segment length 102.683144 meters # Minimum depth: 3675.166316 meters looking forward 100.000000 meters along route # Maximum depth: 3681.471786 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3625.166316 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.964535; longitude = -108.865913; duration = 410; initialDepth = 3631.868770; finalDepth = 3625.166316; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3625.166316 # Seafloor depth: -3675.166316 # 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 18 # Segment length 108.046702 meters # Minimum depth: 3681.868770 meters looking forward 100.000000 meters along route # Maximum depth: 3685.812575 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3631.868770 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.964227; longitude = -108.864961; duration = 432; initialDepth = 3636.008539; finalDepth = 3631.868770; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3631.86877 # Seafloor depth: -3681.868770 # 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 18 # Segment length 100.496911 meters # Minimum depth: 3686.008539 meters looking forward 100.000000 meters along route # Maximum depth: 3701.348393 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3636.008539 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.963903; longitude = -108.863960; duration = 401; initialDepth = 3651.576805; finalDepth = 3636.008539; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3636.008539 # Seafloor depth: -3686.008539 # 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 17 # Segment length 104.337053 meters # Minimum depth: 3701.576805 meters looking forward 100.000000 meters along route # Maximum depth: 3702.741264 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3651.576805 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.963602; longitude = -108.863029; duration = 417; # abortOnTimeout = True; initialDepth = 3638.801846; finalDepth = 3651.576805; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.7260509999996 # Actual altitude: 50.7260509999996 # Commanded vehicle depth: 3651.576805 # Seafloor depth: -3702.302856 # 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; } # ####################################################### # # 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 160.179592 meters # Minimum depth: 3688.801846 meters looking forward 100.000000 meters along route # Maximum depth: 3701.163269 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3638.801846 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.962700; longitude = -108.863324; duration = 640; # abortOnTimeout = True; initialDepth = 3634.048310; finalDepth = 3638.801846; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.3614230000003 # Actual altitude: 62.3614230000003 # Commanded vehicle depth: 3638.801846 # Seafloor depth: -3701.163269 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.417685 meters # Minimum depth: 3684.048310 meters looking forward 100.000000 meters along route # Maximum depth: 3688.739002 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3634.048310 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.963181; longitude = -108.864808; duration = 405; initialDepth = 3626.005403; finalDepth = 3634.048310; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.3614230000003 # Actual altitude: 62.3614230000003 # Commanded vehicle depth: 3634.04831 # Seafloor depth: -3688.739002 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 109.002278 meters # Minimum depth: 3676.005403 meters looking forward 100.000000 meters along route # Maximum depth: 3683.047032 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3626.005403 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.963486; longitude = -108.865747; duration = 436; initialDepth = 3623.221433; finalDepth = 3626.005403; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.0416289999998 # Actual altitude: 57.0416289999998 # Commanded vehicle depth: 3626.005403 # Seafloor depth: -3683.047032 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 103.145352 meters # Minimum depth: 3673.221433 meters looking forward 100.000000 meters along route # Maximum depth: 3675.943383 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3623.221433 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.963813; longitude = -108.866757; duration = 412; initialDepth = 3602.259354; finalDepth = 3623.221433; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.0416289999998 # Actual altitude: 57.0416289999998 # Commanded vehicle depth: 3623.221433 # Seafloor depth: -3675.943383 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 107.273475 meters # Minimum depth: 3652.259354 meters looking forward 100.000000 meters along route # Maximum depth: 3672.194596 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3602.259354 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.964123; longitude = -108.867713; duration = 429; initialDepth = 3592.393922; finalDepth = 3602.259354; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.935242 # Actual altitude: 69.935242 # Commanded vehicle depth: 3602.259354 # Seafloor depth: -3672.194596 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 104.873001 meters # Minimum depth: 3642.393922 meters looking forward 100.000000 meters along route # Maximum depth: 3652.059957 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3592.393922 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.964445; longitude = -108.868706; duration = 419; initialDepth = 3587.775295; finalDepth = 3592.393922; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.935242 # Actual altitude: 69.935242 # Commanded vehicle depth: 3592.393922 # Seafloor depth: -3652.059957 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 106.072805 meters # Minimum depth: 3637.775295 meters looking forward 100.000000 meters along route # Maximum depth: 3641.492951 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3587.775295 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.964760; longitude = -108.869678; duration = 424; initialDepth = 3588.622840; finalDepth = 3587.775295; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.6660349999997 # Actual altitude: 59.6660349999997 # Commanded vehicle depth: 3587.775295 # Seafloor depth: -3641.492951 # 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 16 # Segment length 109.627586 meters # Minimum depth: 3638.622840 meters looking forward 100.000000 meters along route # Maximum depth: 3655.922957 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3588.622840 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.965079; longitude = -108.870660; duration = 438; initialDepth = 3605.339478; finalDepth = 3588.622840; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.7176560000003 # Actual altitude: 53.7176560000003 # Commanded vehicle depth: 3588.62284 # Seafloor depth: -3638.622840 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.86; 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 100.032152 meters # Minimum depth: 3655.339478 meters looking forward 100.000000 meters along route # Maximum depth: 3659.720736 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3605.339478 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.965408; longitude = -108.871676; duration = 400; # abortOnTimeout = True; initialDepth = 3609.148527; finalDepth = 3605.339478; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3605.339478 # Seafloor depth: -3655.339478 # 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 14 # Segment length 98.880914 meters # Minimum depth: 3659.148527 meters looking forward 100.000000 meters along route # Maximum depth: 3661.708791 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3609.148527 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.964505; longitude = -108.871676; duration = 395; # abortOnTimeout = True; initialDepth = 3609.494601; finalDepth = 3609.148527; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8911460000004 # Actual altitude: 50.8911460000004 # Commanded vehicle depth: 3609.148527 # Seafloor depth: -3660.039673 # 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 14 # Segment length 105.923437 meters # Minimum depth: 3659.494601 meters looking forward 100.000000 meters along route # Maximum depth: 3667.122122 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3609.494601 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.964211; longitude = -108.870759; duration = 423; initialDepth = 3617.228870; finalDepth = 3609.494601; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8911460000004 # Actual altitude: 50.8911460000004 # Commanded vehicle depth: 3609.494601 # Seafloor depth: -3659.494601 # 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 14 # Segment length 109.422198 meters # Minimum depth: 3667.228870 meters looking forward 100.000000 meters along route # Maximum depth: 3670.167013 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3617.228870 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.963897; longitude = -108.869776; duration = 437; initialDepth = 3618.855853; finalDepth = 3617.228870; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3617.22887 # Seafloor depth: -3667.228870 # 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 13 # Segment length 75.170646 meters # Minimum depth: 3668.855853 meters looking forward 100.000000 meters along route # Maximum depth: 3673.332129 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3618.855853 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.963572; longitude = -108.868761; duration = 300; # abortOnTimeout = True; initialDepth = 3623.349096; finalDepth = 3618.855853; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4751409999999 # Actual altitude: 51.4751409999999 # Commanded vehicle depth: 3618.855853 # Seafloor depth: -3670.330994 # 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 13 # Segment length 102.420344 meters # Minimum depth: 3673.349096 meters looking forward 100.000000 meters along route # Maximum depth: 3675.177873 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3623.349096 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.962980; longitude = -108.868400; duration = 409; initialDepth = 3623.498495; finalDepth = 3623.349096; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4751409999999 # Actual altitude: 51.4751409999999 # Commanded vehicle depth: 3623.349096 # Seafloor depth: -3673.349096 # 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 13 # Segment length 102.420515 meters # Minimum depth: 3673.498495 meters looking forward 100.000000 meters along route # Maximum depth: 3675.187950 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3623.498495 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.962173; longitude = -108.867909; duration = 409; initialDepth = 3623.577958; finalDepth = 3623.498495; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6844940000001 # Actual altitude: 51.6844940000001 # Commanded vehicle depth: 3623.498495 # Seafloor depth: -3675.182989 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 102.420688 meters # Minimum depth: 3673.577958 meters looking forward 100.000000 meters along route # Maximum depth: 3678.672395 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3623.577958 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.961366; longitude = -108.867418; duration = 409; initialDepth = 3626.595381; finalDepth = 3623.577958; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6844940000001 # Actual altitude: 51.6844940000001 # Commanded vehicle depth: 3623.577958 # Seafloor depth: -3673.577958 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 102.720336 meters # Minimum depth: 3676.595381 meters looking forward 100.000000 meters along route # Maximum depth: 3679.833245 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3626.595381 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.960559; longitude = -108.866926; duration = 410; initialDepth = 3625.533633; finalDepth = 3626.595381; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1012289999999 # Actual altitude: 52.1012289999999 # Commanded vehicle depth: 3626.595381 # Seafloor depth: -3678.696610 # 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 13 # Segment length 103.152636 meters # Minimum depth: 3675.533633 meters looking forward 100.000000 meters along route # Maximum depth: 3676.579689 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3625.533633 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.959750; longitude = -108.866434; duration = 412; initialDepth = 3619.259925; finalDepth = 3625.533633; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1012289999999 # Actual altitude: 52.1012289999999 # Commanded vehicle depth: 3625.533633 # Seafloor depth: -3676.579689 # 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 13 # Segment length 103.152811 meters # Minimum depth: 3669.259925 meters looking forward 100.000000 meters along route # Maximum depth: 3675.644828 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3619.259925 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.958938; longitude = -108.865939; duration = 412; initialDepth = 3616.370637; finalDepth = 3619.259925; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.3849030000001 # Actual altitude: 56.3849030000001 # Commanded vehicle depth: 3619.259925 # Seafloor depth: -3675.644828 # 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 13 # Segment length 103.152985 meters # Minimum depth: 3666.370637 meters looking forward 100.000000 meters along route # Maximum depth: 3669.142739 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3616.370637 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.958125; longitude = -108.865444; duration = 412; initialDepth = 3613.405576; finalDepth = 3616.370637; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.3849030000001 # Actual altitude: 56.3849030000001 # Commanded vehicle depth: 3616.370637 # Seafloor depth: -3669.142739 # 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 13 # Segment length 103.153159 meters # Minimum depth: 3663.405576 meters looking forward 100.000000 meters along route # Maximum depth: 3666.304159 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3613.405576 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.957312; longitude = -108.864949; duration = 412; initialDepth = 3609.721586; finalDepth = 3613.405576; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.8985829999997 # Actual altitude: 52.8985829999997 # Commanded vehicle depth: 3613.405576 # Seafloor depth: -3666.304159 # 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 13 # Segment length 103.153334 meters # Minimum depth: 3659.721586 meters looking forward 100.000000 meters along route # Maximum depth: 3663.322476 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3609.721586 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.956500; longitude = -108.864454; duration = 412; initialDepth = 3606.388705; finalDepth = 3609.721586; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6008899999997 # Actual altitude: 53.6008899999997 # Commanded vehicle depth: 3609.721586 # Seafloor depth: -3663.322476 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 103.153509 meters # Minimum depth: 3656.388705 meters looking forward 100.000000 meters along route # Maximum depth: 3659.557844 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3606.388705 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.955687; longitude = -108.863960; duration = 412; initialDepth = 3604.863116; finalDepth = 3606.388705; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6008899999997 # Actual altitude: 53.6008899999997 # Commanded vehicle depth: 3606.388705 # Seafloor depth: -3659.557844 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 103.153683 meters # Minimum depth: 3654.863116 meters looking forward 100.000000 meters along route # Maximum depth: 3656.911974 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3604.863116 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.954875; longitude = -108.863465; duration = 412; initialDepth = 3607.504922; finalDepth = 3604.863116; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1691390000001 # Actual altitude: 53.1691390000001 # Commanded vehicle depth: 3604.863116 # Seafloor depth: -3656.259574 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 103.153857 meters # Minimum depth: 3657.504922 meters looking forward 100.000000 meters along route # Maximum depth: 3671.380764 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3607.504922 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.954062; longitude = -108.862970; duration = 412; initialDepth = 3622.095580; finalDepth = 3607.504922; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3964580000002 # Actual altitude: 51.3964580000002 # Commanded vehicle depth: 3607.504922 # Seafloor depth: -3657.504922 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 103.154032 meters # Minimum depth: 3672.095580 meters looking forward 100.000000 meters along route # Maximum depth: 3681.998199 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3622.095580 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.953250; longitude = -108.862475; duration = 412; initialDepth = 3632.467026; finalDepth = 3622.095580; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3622.09558 # Seafloor depth: -3672.095580 # 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 103.154207 meters # Minimum depth: 3682.467026 meters looking forward 100.000000 meters along route # Maximum depth: 3687.284163 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3632.467026 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.952437; longitude = -108.861980; duration = 412; initialDepth = 3637.697181; finalDepth = 3632.467026; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3632.467026 # Seafloor depth: -3682.467026 # 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 103.154381 meters # Minimum depth: 3687.697181 meters looking forward 100.000000 meters along route # Maximum depth: 3694.044794 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3637.697181 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.951624; longitude = -108.861485; duration = 412; initialDepth = 3644.465061; finalDepth = 3637.697181; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3637.697181 # Seafloor depth: -3687.697181 # 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 103.154556 meters # Minimum depth: 3694.465061 meters looking forward 100.000000 meters along route # Maximum depth: 3696.433705 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3644.465061 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.950812; longitude = -108.860991; duration = 412; initialDepth = 3643.033597; finalDepth = 3644.465061; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3644.465061 # Seafloor depth: -3694.465061 # 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 106.913806 meters # Minimum depth: 3693.033597 meters looking forward 100.000000 meters along route # Maximum depth: 3696.155030 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3643.033597 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.949999; longitude = -108.860496; duration = 427; initialDepth = 3641.685027; finalDepth = 3643.033597; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.1214329999998 # Actual altitude: 53.1214329999998 # Commanded vehicle depth: 3643.033597 # Seafloor depth: -3696.155030 # 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; } # ####################################################### # # 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 137.138113 meters # Minimum depth: 3691.685027 meters looking forward 100.000000 meters along route # Maximum depth: 3692.935547 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3641.685027 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.949157; longitude = -108.859983; duration = 548; # abortOnTimeout = True; initialDepth = 3638.925453; finalDepth = 3641.685027; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1214329999998 # Actual altitude: 53.1214329999998 # Commanded vehicle depth: 3641.685027 # Seafloor depth: -3692.935547 # 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 12 # Segment length 100.305593 meters # Minimum depth: 3688.925453 meters looking forward 100.000000 meters along route # Maximum depth: 3691.371692 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3638.925453 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.947923; longitude = -108.859881; duration = 401; initialDepth = 3634.470875; finalDepth = 3638.925453; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4462390000003 # Actual altitude: 52.4462390000003 # Commanded vehicle depth: 3638.925453 # Seafloor depth: -3691.371692 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.305590 meters # Minimum depth: 3684.470875 meters looking forward 100.000000 meters along route # Maximum depth: 3688.751540 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3634.470875 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.947020; longitude = -108.859807; duration = 401; initialDepth = 3625.863201; finalDepth = 3634.470875; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.2806650000002 # Actual altitude: 54.2806650000002 # Commanded vehicle depth: 3634.470875 # Seafloor depth: -3688.751540 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.305588 meters # Minimum depth: 3675.863201 meters looking forward 100.000000 meters along route # Maximum depth: 3683.620372 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3625.863201 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.946117; longitude = -108.859732; duration = 401; initialDepth = 3619.789117; finalDepth = 3625.863201; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.7571709999997 # Actual altitude: 57.7571709999997 # Commanded vehicle depth: 3625.863201 # Seafloor depth: -3683.620372 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.305585 meters # Minimum depth: 3669.789117 meters looking forward 100.000000 meters along route # Maximum depth: 3675.068292 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3619.789117 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.945214; longitude = -108.859658; duration = 401; initialDepth = 3619.501177; finalDepth = 3619.789117; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.7571709999997 # Actual altitude: 57.7571709999997 # Commanded vehicle depth: 3619.789117 # Seafloor depth: -3675.068292 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.305582 meters # Minimum depth: 3669.501177 meters looking forward 100.000000 meters along route # Maximum depth: 3670.832486 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3619.501177 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.944311; longitude = -108.859583; duration = 401; initialDepth = 3621.092114; finalDepth = 3619.501177; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.2791750000001 # Actual altitude: 55.2791750000001 # Commanded vehicle depth: 3619.501177 # Seafloor depth: -3669.597334 # 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 12 # Segment length 100.305579 meters # Minimum depth: 3671.092114 meters looking forward 100.000000 meters along route # Maximum depth: 3672.745312 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3621.092114 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.943408; longitude = -108.859509; duration = 401; initialDepth = 3617.246849; finalDepth = 3621.092114; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0961569999999 # Actual altitude: 50.0961569999999 # Commanded vehicle depth: 3621.092114 # Seafloor depth: -3671.092114 # 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 12 # Segment length 100.305577 meters # Minimum depth: 3667.246849 meters looking forward 100.000000 meters along route # Maximum depth: 3672.657064 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3617.246849 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.942505; longitude = -108.859434; duration = 401; initialDepth = 3610.544327; finalDepth = 3617.246849; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.4102149999999 # Actual altitude: 55.4102149999999 # Commanded vehicle depth: 3617.246849 # Seafloor depth: -3672.657064 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.305573 meters # Minimum depth: 3660.544327 meters looking forward 100.000000 meters along route # Maximum depth: 3667.178292 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3610.544327 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.941602; longitude = -108.859359; duration = 401; initialDepth = 3599.490439; finalDepth = 3610.544327; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.633965 # Actual altitude: 56.633965 # Commanded vehicle depth: 3610.544327 # Seafloor depth: -3667.178292 # 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 12 # Segment length 100.305571 meters # Minimum depth: 3649.490439 meters looking forward 100.000000 meters along route # Maximum depth: 3659.475467 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3599.490439 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.940700; longitude = -108.859285; duration = 401; initialDepth = 3597.864382; finalDepth = 3599.490439; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.9850280000001 # Actual altitude: 59.9850280000001 # Commanded vehicle depth: 3599.490439 # Seafloor depth: -3659.475467 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 106.958637 meters # Minimum depth: 3647.864382 meters looking forward 100.000000 meters along route # Maximum depth: 3652.964361 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3597.864382 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.939797; longitude = -108.859210; duration = 427; initialDepth = 3603.799744; finalDepth = 3597.864382; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 59.9850280000001 # Actual altitude: 59.9850280000001 # Commanded vehicle depth: 3597.864382 # Seafloor depth: -3648.795274 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.99; 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 97.025790 meters # Minimum depth: 3653.799744 meters looking forward 100.000000 meters along route # Maximum depth: 3665.577332 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3603.799744 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.938834; longitude = -108.859131; duration = 388; # abortOnTimeout = True; initialDepth = 3617.269197; finalDepth = 3603.799744; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9308919999999 # Actual altitude: 50.9308919999999 # Commanded vehicle depth: 3603.799744 # Seafloor depth: -3653.799744 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.368887 meters # Minimum depth: 3667.269197 meters looking forward 100.000000 meters along route # Maximum depth: 3679.664008 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3617.269197 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.938904; longitude = -108.858181; duration = 401; initialDepth = 3630.425970; finalDepth = 3617.269197; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3617.269197 # Seafloor depth: -3667.269197 # 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 100.368885 meters # Minimum depth: 3680.425970 meters looking forward 100.000000 meters along route # Maximum depth: 3683.901528 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3630.425970 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.938976; longitude = -108.857198; duration = 401; initialDepth = 3634.197434; finalDepth = 3630.425970; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3630.42597 # Seafloor depth: -3680.425970 # 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 100.368884 meters # Minimum depth: 3684.197434 meters looking forward 100.000000 meters along route # Maximum depth: 3687.184205 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3634.197434 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.939048; longitude = -108.856216; duration = 401; initialDepth = 3637.558560; finalDepth = 3634.197434; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3634.197434 # Seafloor depth: -3684.197434 # 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 103.699213 meters # Minimum depth: 3687.558560 meters looking forward 100.000000 meters along route # Maximum depth: 3692.503522 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3637.558560 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.939120; longitude = -108.855233; duration = 414; initialDepth = 3641.881464; finalDepth = 3637.558560; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3637.55856 # Seafloor depth: -3687.558560 # 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 10 # Segment length 97.072731 meters # Minimum depth: 3691.881464 meters looking forward 100.000000 meters along route # Maximum depth: 3692.729187 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3641.881464 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.939195; longitude = -108.854218; duration = 388; # abortOnTimeout = True; initialDepth = 3642.389548; finalDepth = 3641.881464; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8477229999999 # Actual altitude: 50.8477229999999 # Commanded vehicle depth: 3641.881464 # Seafloor depth: -3692.729187 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 100.438191 meters # Minimum depth: 3692.389548 meters looking forward 100.000000 meters along route # Maximum depth: 3693.127570 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3642.389548 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.940068; longitude = -108.854305; duration = 401; initialDepth = 3641.457020; finalDepth = 3642.389548; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8477229999999 # Actual altitude: 50.8477229999999 # Commanded vehicle depth: 3642.389548 # Seafloor depth: -3692.410875 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.438190 meters # Minimum depth: 3691.457020 meters looking forward 100.000000 meters along route # Maximum depth: 3692.689621 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3641.457020 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.940970; longitude = -108.854395; duration = 401; initialDepth = 3643.069860; finalDepth = 3641.457020; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.65247 # Actual altitude: 50.65247 # Commanded vehicle depth: 3641.45702 # Seafloor depth: -3692.109490 # 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 10 # Segment length 100.438191 meters # Minimum depth: 3693.069860 meters looking forward 100.000000 meters along route # Maximum depth: 3697.256178 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3643.069860 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.941873; longitude = -108.854485; duration = 401; initialDepth = 3647.821848; finalDepth = 3643.069860; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.65247 # Actual altitude: 50.65247 # Commanded vehicle depth: 3643.06986 # Seafloor depth: -3693.069860 # 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 10 # Segment length 100.438191 meters # Minimum depth: 3697.821848 meters looking forward 100.000000 meters along route # Maximum depth: 3703.266875 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3647.821848 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.942776; longitude = -108.854575; duration = 401; initialDepth = 3653.916865; finalDepth = 3647.821848; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3647.821848 # Seafloor depth: -3697.821848 # 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 10 # Segment length 100.438191 meters # Minimum depth: 3703.916865 meters looking forward 100.000000 meters along route # Maximum depth: 3709.456601 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3653.916865 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.943679; longitude = -108.854665; duration = 401; initialDepth = 3659.996666; finalDepth = 3653.916865; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3653.916865 # Seafloor depth: -3703.916865 # 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 10 # Segment length 100.438191 meters # Minimum depth: 3709.996666 meters looking forward 100.000000 meters along route # Maximum depth: 3713.571409 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3659.996666 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.944582; longitude = -108.854756; duration = 401; initialDepth = 3663.520392; finalDepth = 3659.996666; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3659.996666 # Seafloor depth: -3709.996666 # 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 10 # Segment length 100.438191 meters # Minimum depth: 3713.520392 meters looking forward 100.000000 meters along route # Maximum depth: 3713.648096 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3663.520392 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.945485; longitude = -108.854846; duration = 401; initialDepth = 3663.655254; finalDepth = 3663.520392; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.121396 # Actual altitude: 50.121396 # Commanded vehicle depth: 3663.520392 # Seafloor depth: -3713.641788 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.438192 meters # Minimum depth: 3713.655254 meters looking forward 100.000000 meters along route # Maximum depth: 3714.461507 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3663.655254 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.946388; longitude = -108.854936; duration = 401; initialDepth = 3663.724358; finalDepth = 3663.655254; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.121396 # Actual altitude: 50.121396 # Commanded vehicle depth: 3663.655254 # Seafloor depth: -3713.655254 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.438191 meters # Minimum depth: 3713.724358 meters looking forward 100.000000 meters along route # Maximum depth: 3714.375516 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3663.724358 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.947291; longitude = -108.855026; duration = 401; initialDepth = 3663.692683; finalDepth = 3663.724358; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6511580000001 # Actual altitude: 50.6511580000001 # Commanded vehicle depth: 3663.724358 # Seafloor depth: -3714.375516 # 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 10 # Segment length 100.438191 meters # Minimum depth: 3713.692683 meters looking forward 100.000000 meters along route # Maximum depth: 3714.252115 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3663.692683 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.948193; longitude = -108.855116; duration = 401; initialDepth = 3664.293274; finalDepth = 3663.692683; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6511580000001 # Actual altitude: 50.6511580000001 # Commanded vehicle depth: 3663.692683 # Seafloor depth: -3713.692683 # 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 10 # Segment length 103.753786 meters # Minimum depth: 3714.293274 meters looking forward 100.000000 meters along route # Maximum depth: 3714.458367 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3664.293274 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.949096; longitude = -108.855206; duration = 415; initialDepth = 3660.763816; finalDepth = 3664.293274; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.0399709999997 # Actual altitude: 50.0399709999997 # Commanded vehicle depth: 3664.293274 # Seafloor depth: -3714.333245 # 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; } # ####################################################### # # 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 90.550781 meters # Minimum depth: 3710.763816 meters looking forward 100.000000 meters along route # Maximum depth: 3714.365173 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3660.763816 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.950029; longitude = -108.855299; duration = 362; # abortOnTimeout = True; initialDepth = 3658.789717; finalDepth = 3660.763816; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.601357 # Actual altitude: 53.601357 # Commanded vehicle depth: 3660.763816 # Seafloor depth: -3714.365173 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.80; 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 8 # Segment length 103.790084 meters # Minimum depth: 3708.789717 meters looking forward 100.000000 meters along route # Maximum depth: 3710.671997 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3658.789717 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.949939; longitude = -108.856183; duration = 415; # abortOnTimeout = True; initialDepth = 3659.179646; finalDepth = 3658.789717; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.601357 # Actual altitude: 53.601357 # Commanded vehicle depth: 3658.789717 # Seafloor depth: -3710.671997 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 100.442414 meters # Minimum depth: 3709.179646 meters looking forward 100.000000 meters along route # Maximum depth: 3710.080105 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3659.179646 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.949006; longitude = -108.856089; duration = 401; initialDepth = 3658.004409; finalDepth = 3659.179646; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8822799999998 # Actual altitude: 51.8822799999998 # Commanded vehicle depth: 3659.179646 # Seafloor depth: -3709.179646 # 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 8 # Segment length 100.442414 meters # Minimum depth: 3708.004409 meters looking forward 100.000000 meters along route # Maximum depth: 3709.858289 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3658.004409 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.948103; longitude = -108.855999; duration = 401; initialDepth = 3655.432917; finalDepth = 3658.004409; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8538799999997 # Actual altitude: 51.8538799999997 # Commanded vehicle depth: 3658.004409 # Seafloor depth: -3709.858289 # 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 8 # Segment length 100.442414 meters # Minimum depth: 3705.432917 meters looking forward 100.000000 meters along route # Maximum depth: 3707.717218 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3655.432917 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.947200; longitude = -108.855908; duration = 401; initialDepth = 3655.340912; finalDepth = 3655.432917; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2843009999997 # Actual altitude: 52.2843009999997 # Commanded vehicle depth: 3655.432917 # Seafloor depth: -3707.717218 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.442414 meters # Minimum depth: 3705.340912 meters looking forward 100.000000 meters along route # Maximum depth: 3705.864989 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3655.340912 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.946297; longitude = -108.855818; duration = 401; initialDepth = 3655.137195; finalDepth = 3655.340912; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2843009999997 # Actual altitude: 52.2843009999997 # Commanded vehicle depth: 3655.340912 # Seafloor depth: -3705.385172 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.442414 meters # Minimum depth: 3705.137195 meters looking forward 100.000000 meters along route # Maximum depth: 3706.145153 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3655.137195 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.945395; longitude = -108.855727; duration = 401; initialDepth = 3648.753393; finalDepth = 3655.137195; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8306930000003 # Actual altitude: 50.8306930000003 # Commanded vehicle depth: 3655.137195 # Seafloor depth: -3705.967888 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.442414 meters # Minimum depth: 3698.753393 meters looking forward 100.000000 meters along route # Maximum depth: 3704.711646 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3648.753393 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.944492; longitude = -108.855637; duration = 401; initialDepth = 3643.091237; finalDepth = 3648.753393; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.9582530000002 # Actual altitude: 55.9582530000002 # Commanded vehicle depth: 3648.753393 # Seafloor depth: -3704.711646 # 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 8 # Segment length 100.442414 meters # Minimum depth: 3693.091237 meters looking forward 100.000000 meters along route # Maximum depth: 3698.102411 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3643.091237 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.943589; longitude = -108.855546; duration = 401; initialDepth = 3638.186509; finalDepth = 3643.091237; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.9582530000002 # Actual altitude: 55.9582530000002 # Commanded vehicle depth: 3643.091237 # Seafloor depth: -3698.102411 # 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 8 # Segment length 100.442414 meters # Minimum depth: 3688.186509 meters looking forward 100.000000 meters along route # Maximum depth: 3692.666401 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3638.186509 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.942686; longitude = -108.855456; duration = 401; initialDepth = 3635.834179; finalDepth = 3638.186509; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.0111739999998 # Actual altitude: 55.0111739999998 # Commanded vehicle depth: 3638.186509 # Seafloor depth: -3692.666401 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.442415 meters # Minimum depth: 3685.834179 meters looking forward 100.000000 meters along route # Maximum depth: 3687.710088 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3635.834179 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.941783; longitude = -108.855365; duration = 401; initialDepth = 3635.804922; finalDepth = 3635.834179; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.4798919999998 # Actual altitude: 54.4798919999998 # Commanded vehicle depth: 3635.834179 # Seafloor depth: -3687.710088 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.442414 meters # Minimum depth: 3685.804922 meters looking forward 100.000000 meters along route # Maximum depth: 3687.035526 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3635.804922 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.940880; longitude = -108.855275; duration = 401; initialDepth = 3637.201469; finalDepth = 3635.804922; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8759089999999 # Actual altitude: 51.8759089999999 # Commanded vehicle depth: 3635.804922 # Seafloor depth: -3685.804922 # 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 8 # Segment length 100.442414 meters # Minimum depth: 3687.201469 meters looking forward 100.000000 meters along route # Maximum depth: 3688.064583 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3637.201469 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.939977; longitude = -108.855184; duration = 401; initialDepth = 3638.170242; finalDepth = 3637.201469; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3637.201469 # Seafloor depth: -3687.201469 # 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 8 # Segment length 100.442414 meters # Minimum depth: 3688.170242 meters looking forward 100.000000 meters along route # Maximum depth: 3688.908685 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3638.170242 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.939074; longitude = -108.855093; duration = 401; initialDepth = 3637.946003; finalDepth = 3638.170242; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3638.170242 # Seafloor depth: -3688.170242 # 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 8 # Segment length 100.442414 meters # Minimum depth: 3687.946003 meters looking forward 100.000000 meters along route # Maximum depth: 3689.064198 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3637.946003 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.938172; longitude = -108.855003; duration = 401; initialDepth = 3634.792706; finalDepth = 3637.946003; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0276089999998 # Actual altitude: 51.0276089999998 # Commanded vehicle depth: 3637.946003 # Seafloor depth: -3688.973612 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.442414 meters # Minimum depth: 3684.792706 meters looking forward 100.000000 meters along route # Maximum depth: 3687.707579 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3634.792706 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.937269; longitude = -108.854912; duration = 401; initialDepth = 3624.921463; finalDepth = 3634.792706; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9148729999997 # Actual altitude: 52.9148729999997 # Commanded vehicle depth: 3634.792706 # Seafloor depth: -3687.707579 # 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 8 # Segment length 100.442414 meters # Minimum depth: 3674.921463 meters looking forward 100.000000 meters along route # Maximum depth: 3684.293245 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3624.921463 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.936366; longitude = -108.854822; duration = 401; initialDepth = 3617.564268; finalDepth = 3624.921463; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.3717819999997 # Actual altitude: 59.3717819999997 # Commanded vehicle depth: 3624.921463 # Seafloor depth: -3684.293245 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.442415 meters # Minimum depth: 3667.564268 meters looking forward 100.000000 meters along route # Maximum depth: 3673.656765 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3617.564268 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.935463; longitude = -108.854731; duration = 401; initialDepth = 3617.651891; finalDepth = 3617.564268; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.3717819999997 # Actual altitude: 59.3717819999997 # Commanded vehicle depth: 3617.564268 # Seafloor depth: -3673.656765 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.442414 meters # Minimum depth: 3667.651891 meters looking forward 100.000000 meters along route # Maximum depth: 3668.504275 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3617.651891 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.934560; longitude = -108.854641; duration = 401; initialDepth = 3613.410103; finalDepth = 3617.651891; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.0924970000001 # Actual altitude: 56.0924970000001 # Commanded vehicle depth: 3617.651891 # Seafloor depth: -3667.651891 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.442414 meters # Minimum depth: 3663.410103 meters looking forward 100.000000 meters along route # Maximum depth: 3667.457664 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3613.410103 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.933657; longitude = -108.854550; duration = 401; initialDepth = 3611.293980; finalDepth = 3613.410103; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0475609999999 # Actual altitude: 54.0475609999999 # Commanded vehicle depth: 3613.410103 # Seafloor depth: -3667.457664 # 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 8 # Segment length 100.442414 meters # Minimum depth: 3661.293980 meters looking forward 100.000000 meters along route # Maximum depth: 3663.167360 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3611.293980 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.932754; longitude = -108.854460; duration = 401; initialDepth = 3607.064288; finalDepth = 3611.293980; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0475609999999 # Actual altitude: 54.0475609999999 # Commanded vehicle depth: 3611.29398 # Seafloor depth: -3663.167360 # 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 8 # Segment length 100.442415 meters # Minimum depth: 3657.064288 meters looking forward 100.000000 meters along route # Maximum depth: 3661.123651 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3607.064288 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.931851; longitude = -108.854369; duration = 401; initialDepth = 3603.354266; finalDepth = 3607.064288; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0593629999998 # Actual altitude: 54.0593629999998 # Commanded vehicle depth: 3607.064288 # Seafloor depth: -3661.123651 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 103.752357 meters # Minimum depth: 3653.354266 meters looking forward 100.000000 meters along route # Maximum depth: 3656.432459 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3603.354266 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.930949; longitude = -108.854279; duration = 415; initialDepth = 3593.141106; finalDepth = 3603.354266; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.0593629999998 # Actual altitude: 54.0593629999998 # Commanded vehicle depth: 3603.354266 # Seafloor depth: -3656.432459 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 104.218983 meters # Minimum depth: 3643.141106 meters looking forward 100.000000 meters along route # Maximum depth: 3653.100220 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3593.141106 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.930016; longitude = -108.854185; duration = 416; # abortOnTimeout = True; initialDepth = 3592.927856; finalDepth = 3593.141106; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 59.9591139999998 # Actual altitude: 59.9591139999998 # Commanded vehicle depth: 3593.141106 # Seafloor depth: -3653.100220 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.98; 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 107.110540 meters # Minimum depth: 3642.927856 meters looking forward 100.000000 meters along route # Maximum depth: 3647.803280 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3592.927856 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.929895; longitude = -108.855200; duration = 428; # abortOnTimeout = True; initialDepth = 3598.301700; finalDepth = 3592.927856; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.9591139999998 # Actual altitude: 59.9591139999998 # Commanded vehicle depth: 3592.927856 # Seafloor depth: -3642.927856 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 100.387527 meters # Minimum depth: 3648.301700 meters looking forward 100.000000 meters along route # Maximum depth: 3652.939990 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3598.301700 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.930858; longitude = -108.855290; duration = 401; initialDepth = 3603.402279; finalDepth = 3598.301700; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3598.3017 # Seafloor depth: -3648.301700 # 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 6 # Segment length 100.387529 meters # Minimum depth: 3653.402279 meters looking forward 100.000000 meters along route # Maximum depth: 3657.178801 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3603.402279 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.931761; longitude = -108.855375; duration = 401; initialDepth = 3607.453984; finalDepth = 3603.402279; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3603.402279 # Seafloor depth: -3653.402279 # 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 6 # Segment length 100.387529 meters # Minimum depth: 3657.453984 meters looking forward 100.000000 meters along route # Maximum depth: 3659.181187 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3607.453984 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.932664; longitude = -108.855459; duration = 401; initialDepth = 3609.344333; finalDepth = 3607.453984; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3607.453984 # Seafloor depth: -3657.453984 # 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 6 # Segment length 100.387530 meters # Minimum depth: 3659.344333 meters looking forward 100.000000 meters along route # Maximum depth: 3660.161093 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3609.344333 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.933567; longitude = -108.855544; duration = 401; initialDepth = 3610.107302; finalDepth = 3609.344333; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3609.344333 # Seafloor depth: -3659.344333 # 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 6 # Segment length 100.387531 meters # Minimum depth: 3660.107302 meters looking forward 100.000000 meters along route # Maximum depth: 3663.160713 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3610.107302 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.934470; longitude = -108.855628; duration = 401; initialDepth = 3613.948483; finalDepth = 3610.107302; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.011227 # Actual altitude: 50.011227 # Commanded vehicle depth: 3610.107302 # Seafloor depth: -3660.118529 # 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 6 # Segment length 100.387533 meters # Minimum depth: 3663.948483 meters looking forward 100.000000 meters along route # Maximum depth: 3672.609691 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3613.948483 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.935373; longitude = -108.855713; duration = 401; initialDepth = 3623.474381; finalDepth = 3613.948483; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.011227 # Actual altitude: 50.011227 # Commanded vehicle depth: 3613.948483 # Seafloor depth: -3663.948483 # 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 6 # Segment length 100.387533 meters # Minimum depth: 3673.474381 meters looking forward 100.000000 meters along route # Maximum depth: 3679.983963 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3623.474381 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.936276; longitude = -108.855797; duration = 401; initialDepth = 3630.568492; finalDepth = 3623.474381; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3623.474381 # Seafloor depth: -3673.474381 # 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 6 # Segment length 100.387535 meters # Minimum depth: 3680.568492 meters looking forward 100.000000 meters along route # Maximum depth: 3685.012967 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3630.568492 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.937178; longitude = -108.855881; duration = 401; initialDepth = 3635.002729; finalDepth = 3630.568492; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3630.568492 # Seafloor depth: -3680.568492 # 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 6 # Segment length 100.387536 meters # Minimum depth: 3685.002729 meters looking forward 100.000000 meters along route # Maximum depth: 3685.698790 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3635.002729 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.938081; longitude = -108.855966; duration = 401; initialDepth = 3633.825815; finalDepth = 3635.002729; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3379790000004 # Actual altitude: 50.3379790000004 # Commanded vehicle depth: 3635.002729 # Seafloor depth: -3685.340708 # 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 6 # Segment length 100.387537 meters # Minimum depth: 3683.825815 meters looking forward 100.000000 meters along route # Maximum depth: 3684.818026 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3633.825815 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.938984; longitude = -108.856050; duration = 401; initialDepth = 3632.033367; finalDepth = 3633.825815; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9922109999998 # Actual altitude: 50.9922109999998 # Commanded vehicle depth: 3633.825815 # Seafloor depth: -3684.818026 # 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 6 # Segment length 100.387538 meters # Minimum depth: 3682.033367 meters looking forward 100.000000 meters along route # Maximum depth: 3683.700265 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3632.033367 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.939887; longitude = -108.856135; duration = 401; initialDepth = 3632.003465; finalDepth = 3632.033367; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6668979999999 # Actual altitude: 51.6668979999999 # Commanded vehicle depth: 3632.033367 # Seafloor depth: -3683.700265 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.387539 meters # Minimum depth: 3682.003465 meters looking forward 100.000000 meters along route # Maximum depth: 3683.116845 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3632.003465 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.940790; longitude = -108.856219; duration = 401; initialDepth = 3633.306121; finalDepth = 3632.003465; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6668979999999 # Actual altitude: 51.6668979999999 # Commanded vehicle depth: 3632.003465 # Seafloor depth: -3682.012635 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.387540 meters # Minimum depth: 3683.306121 meters looking forward 100.000000 meters along route # Maximum depth: 3686.752377 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3633.306121 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.941693; longitude = -108.856304; duration = 401; initialDepth = 3637.542505; finalDepth = 3633.306121; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0091700000003 # Actual altitude: 50.0091700000003 # Commanded vehicle depth: 3633.306121 # Seafloor depth: -3683.306121 # 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 6 # Segment length 100.387541 meters # Minimum depth: 3687.542505 meters looking forward 100.000000 meters along route # Maximum depth: 3695.763621 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3637.542505 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.942596; longitude = -108.856388; duration = 401; initialDepth = 3646.280766; finalDepth = 3637.542505; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3637.542505 # Seafloor depth: -3687.542505 # 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 6 # Segment length 100.387542 meters # Minimum depth: 3696.280766 meters looking forward 100.000000 meters along route # Maximum depth: 3699.171196 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3646.280766 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.943499; longitude = -108.856473; duration = 401; initialDepth = 3647.559798; finalDepth = 3646.280766; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3646.280766 # Seafloor depth: -3696.280766 # 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 6 # Segment length 100.387544 meters # Minimum depth: 3697.559798 meters looking forward 100.000000 meters along route # Maximum depth: 3699.868176 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3647.559798 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.944401; longitude = -108.856557; duration = 401; initialDepth = 3644.481354; finalDepth = 3647.559798; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8959440000003 # Actual altitude: 51.8959440000003 # Commanded vehicle depth: 3647.559798 # Seafloor depth: -3699.455742 # 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 6 # Segment length 100.387544 meters # Minimum depth: 3694.481354 meters looking forward 100.000000 meters along route # Maximum depth: 3696.949569 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3644.481354 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.945304; longitude = -108.856642; duration = 401; initialDepth = 3644.990332; finalDepth = 3644.481354; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4682149999999 # Actual altitude: 52.4682149999999 # Commanded vehicle depth: 3644.481354 # Seafloor depth: -3696.949569 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.387546 meters # Minimum depth: 3694.990332 meters looking forward 100.000000 meters along route # Maximum depth: 3699.670575 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3644.990332 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.946207; longitude = -108.856726; duration = 401; initialDepth = 3650.037159; finalDepth = 3644.990332; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4682149999999 # Actual altitude: 52.4682149999999 # Commanded vehicle depth: 3644.990332 # Seafloor depth: -3694.990332 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.387547 meters # Minimum depth: 3700.037159 meters looking forward 100.000000 meters along route # Maximum depth: 3703.873856 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3650.037159 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.947110; longitude = -108.856811; duration = 401; initialDepth = 3654.156299; finalDepth = 3650.037159; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3650.037159 # Seafloor depth: -3700.037159 # 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 6 # Segment length 100.387548 meters # Minimum depth: 3704.156299 meters looking forward 100.000000 meters along route # Maximum depth: 3705.605910 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3654.156299 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.948013; longitude = -108.856895; duration = 401; initialDepth = 3655.614627; finalDepth = 3654.156299; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3654.156299 # Seafloor depth: -3704.156299 # 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 6 # Segment length 103.765308 meters # Minimum depth: 3705.614627 meters looking forward 100.000000 meters along route # Maximum depth: 3707.135629 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3655.614627 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.948916; longitude = -108.856980; duration = 415; initialDepth = 3652.280950; finalDepth = 3655.614627; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3655.614627 # Seafloor depth: -3705.614627 # 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 5 # Segment length 100.585914 meters # Minimum depth: 3702.280950 meters looking forward 100.000000 meters along route # Maximum depth: 3707.376831 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3652.280950 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.949849; longitude = -108.857067; duration = 402; # abortOnTimeout = True; initialDepth = 3650.963987; finalDepth = 3652.280950; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.0958810000002 # Actual altitude: 55.0958810000002 # Commanded vehicle depth: 3652.28095 # Seafloor depth: -3707.376831 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.55; 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 103.660654 meters # Minimum depth: 3700.963987 meters looking forward 100.000000 meters along route # Maximum depth: 3702.033203 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3650.963987 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.949758; longitude = -108.858050; duration = 414; # abortOnTimeout = True; initialDepth = 3647.855057; finalDepth = 3650.963987; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.0958810000002 # Actual altitude: 55.0958810000002 # Commanded vehicle depth: 3650.963987 # Seafloor depth: -3702.033203 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 100.362969 meters # Minimum depth: 3697.855057 meters looking forward 100.000000 meters along route # Maximum depth: 3701.650784 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3647.855057 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.948825; longitude = -108.857966; duration = 401; initialDepth = 3643.410917; finalDepth = 3647.855057; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6808569999998 # Actual altitude: 53.6808569999998 # Commanded vehicle depth: 3647.855057 # Seafloor depth: -3701.535914 # 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 4 # Segment length 100.362967 meters # Minimum depth: 3693.410917 meters looking forward 100.000000 meters along route # Maximum depth: 3697.640378 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3643.410917 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.947923; longitude = -108.857884; duration = 401; initialDepth = 3639.342386; finalDepth = 3643.410917; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.2294609999999 # Actual altitude: 54.2294609999999 # Commanded vehicle depth: 3643.410917 # Seafloor depth: -3697.640378 # 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 4 # Segment length 100.362966 meters # Minimum depth: 3689.342386 meters looking forward 100.000000 meters along route # Maximum depth: 3693.032948 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3639.342386 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.947020; longitude = -108.857802; duration = 401; initialDepth = 3637.569210; finalDepth = 3639.342386; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.2294609999999 # Actual altitude: 54.2294609999999 # Commanded vehicle depth: 3639.342386 # Seafloor depth: -3693.032948 # 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 4 # Segment length 100.362964 meters # Minimum depth: 3687.569210 meters looking forward 100.000000 meters along route # Maximum depth: 3688.999999 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3637.569210 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.946117; longitude = -108.857721; duration = 401; initialDepth = 3637.753952; finalDepth = 3637.569210; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6905620000002 # Actual altitude: 53.6905620000002 # Commanded vehicle depth: 3637.56921 # Seafloor depth: -3688.999999 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.362963 meters # Minimum depth: 3687.753952 meters looking forward 100.000000 meters along route # Maximum depth: 3688.949473 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3637.753952 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.945214; longitude = -108.857639; duration = 401; initialDepth = 3638.993136; finalDepth = 3637.753952; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.430789 # Actual altitude: 51.430789 # Commanded vehicle depth: 3637.753952 # Seafloor depth: -3687.753952 # 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 4 # Segment length 100.362961 meters # Minimum depth: 3688.993136 meters looking forward 100.000000 meters along route # Maximum depth: 3689.785927 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3638.993136 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.944311; longitude = -108.857558; duration = 401; initialDepth = 3633.443304; finalDepth = 3638.993136; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3638.993136 # Seafloor depth: -3688.993136 # 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 4 # Segment length 100.362960 meters # Minimum depth: 3683.443304 meters looking forward 100.000000 meters along route # Maximum depth: 3689.747663 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3633.443304 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.943408; longitude = -108.857476; duration = 401; initialDepth = 3630.317067; finalDepth = 3633.443304; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.3043590000002 # Actual altitude: 56.3043590000002 # Commanded vehicle depth: 3633.443304 # Seafloor depth: -3689.747663 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.362957 meters # Minimum depth: 3680.317067 meters looking forward 100.000000 meters along route # Maximum depth: 3683.378074 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3630.317067 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.942505; longitude = -108.857394; duration = 401; initialDepth = 3629.749387; finalDepth = 3630.317067; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.3043590000002 # Actual altitude: 56.3043590000002 # Commanded vehicle depth: 3630.317067 # Seafloor depth: -3683.378074 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.362957 meters # Minimum depth: 3679.749387 meters looking forward 100.000000 meters along route # Maximum depth: 3680.261348 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3629.749387 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.941602; longitude = -108.857313; duration = 401; initialDepth = 3630.031721; finalDepth = 3629.749387; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0610070000002 # Actual altitude: 53.0610070000002 # Commanded vehicle depth: 3629.749387 # Seafloor depth: -3680.261348 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.362954 meters # Minimum depth: 3680.031721 meters looking forward 100.000000 meters along route # Maximum depth: 3680.555850 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3630.031721 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.940700; longitude = -108.857231; duration = 401; initialDepth = 3629.985229; finalDepth = 3630.031721; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5119610000002 # Actual altitude: 50.5119610000002 # Commanded vehicle depth: 3630.031721 # Seafloor depth: -3680.031721 # 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 4 # Segment length 100.362953 meters # Minimum depth: 3679.985229 meters looking forward 100.000000 meters along route # Maximum depth: 3681.219936 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3629.985229 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.939797; longitude = -108.857150; duration = 401; initialDepth = 3630.739463; finalDepth = 3629.985229; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0996600000003 # Actual altitude: 50.0996600000003 # Commanded vehicle depth: 3629.985229 # Seafloor depth: -3680.084889 # 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 4 # Segment length 100.362952 meters # Minimum depth: 3680.739463 meters looking forward 100.000000 meters along route # Maximum depth: 3681.530638 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3630.739463 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.938894; longitude = -108.857068; duration = 401; initialDepth = 3621.452324; finalDepth = 3630.739463; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6048730000002 # Actual altitude: 50.6048730000002 # Commanded vehicle depth: 3630.739463 # Seafloor depth: -3681.344336 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.362949 meters # Minimum depth: 3671.452324 meters looking forward 100.000000 meters along route # Maximum depth: 3680.226523 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3621.452324 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.937991; longitude = -108.856986; duration = 401; initialDepth = 3611.490661; finalDepth = 3621.452324; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.774199 # Actual altitude: 58.774199 # Commanded vehicle depth: 3621.452324 # Seafloor depth: -3680.226523 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.362949 meters # Minimum depth: 3661.490661 meters looking forward 100.000000 meters along route # Maximum depth: 3670.264143 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3611.490661 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.937088; longitude = -108.856905; duration = 401; initialDepth = 3606.234639; finalDepth = 3611.490661; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.774199 # Actual altitude: 58.774199 # Commanded vehicle depth: 3611.490661 # Seafloor depth: -3670.264143 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.362946 meters # Minimum depth: 3656.234639 meters looking forward 100.000000 meters along route # Maximum depth: 3660.700812 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3606.234639 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.936185; longitude = -108.856823; duration = 401; initialDepth = 3604.339224; finalDepth = 3606.234639; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.7734820000001 # Actual altitude: 58.7734820000001 # Commanded vehicle depth: 3606.234639 # Seafloor depth: -3660.700812 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.362945 meters # Minimum depth: 3654.339224 meters looking forward 100.000000 meters along route # Maximum depth: 3656.103514 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3604.339224 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.935282; longitude = -108.856741; duration = 401; initialDepth = 3601.468737; finalDepth = 3604.339224; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.4661730000003 # Actual altitude: 54.4661730000003 # Commanded vehicle depth: 3604.339224 # Seafloor depth: -3656.103514 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.362944 meters # Minimum depth: 3651.468737 meters looking forward 100.000000 meters along route # Maximum depth: 3654.041686 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3601.468737 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.934380; longitude = -108.856660; duration = 401; initialDepth = 3600.815730; finalDepth = 3601.468737; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5729489999999 # Actual altitude: 52.5729489999999 # Commanded vehicle depth: 3601.468737 # Seafloor depth: -3654.041686 # 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 4 # Segment length 100.362941 meters # Minimum depth: 3650.815730 meters looking forward 100.000000 meters along route # Maximum depth: 3651.324088 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3600.815730 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.933477; longitude = -108.856578; duration = 401; initialDepth = 3599.284394; finalDepth = 3600.815730; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5729489999999 # Actual altitude: 52.5729489999999 # Commanded vehicle depth: 3600.81573 # Seafloor depth: -3651.324088 # 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 4 # Segment length 100.362941 meters # Minimum depth: 3649.284394 meters looking forward 100.000000 meters along route # Maximum depth: 3650.842873 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3599.284394 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.932574; longitude = -108.856497; duration = 401; initialDepth = 3591.559886; finalDepth = 3599.284394; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5584790000003 # Actual altitude: 51.5584790000003 # Commanded vehicle depth: 3599.284394 # Seafloor depth: -3650.842873 # 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 4 # Segment length 100.362938 meters # Minimum depth: 3641.559886 meters looking forward 100.000000 meters along route # Maximum depth: 3648.681136 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3591.559886 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.931671; longitude = -108.856415; duration = 401; initialDepth = 3585.044774; finalDepth = 3591.559886; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.1212500000001 # Actual altitude: 57.1212500000001 # Commanded vehicle depth: 3591.559886 # Seafloor depth: -3648.681136 # 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 4 # Segment length 103.717600 meters # Minimum depth: 3635.044774 meters looking forward 100.000000 meters along route # Maximum depth: 3640.976929 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3585.044774 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.930768; longitude = -108.856333; duration = 414; initialDepth = 3579.054174; finalDepth = 3585.044774; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 57.1212500000001 # Actual altitude: 57.1212500000001 # Commanded vehicle depth: 3585.044774 # Seafloor depth: -3640.976929 # 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; } # ####################################################### # # 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 100.488967 meters # Minimum depth: 3629.054174 meters looking forward 100.000000 meters along route # Maximum depth: 3634.591797 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3579.054174 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.929835; longitude = -108.856249; duration = 401; # abortOnTimeout = True; initialDepth = 3578.738281; finalDepth = 3579.054174; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.932155 # Actual altitude: 55.932155 # Commanded vehicle depth: 3579.054174 # Seafloor depth: -3634.591797 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.97; 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 103.686028 meters # Minimum depth: 3628.738281 meters looking forward 100.000000 meters along route # Maximum depth: 3633.968508 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3578.738281 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.929745; longitude = -108.857231; duration = 414; # abortOnTimeout = True; initialDepth = 3584.425014; finalDepth = 3578.738281; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.5376230000002 # Actual altitude: 55.5376230000002 # Commanded vehicle depth: 3578.738281 # Seafloor depth: -3628.738281 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 100.363266 meters # Minimum depth: 3634.425014 meters looking forward 100.000000 meters along route # Maximum depth: 3640.025883 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3584.425014 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.930678; longitude = -108.857315; duration = 401; initialDepth = 3590.162288; finalDepth = 3584.425014; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3584.425014 # Seafloor depth: -3634.425014 # 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 2 # Segment length 100.363268 meters # Minimum depth: 3640.162288 meters looking forward 100.000000 meters along route # Maximum depth: 3643.690539 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3590.162288 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.931581; longitude = -108.857397; duration = 401; initialDepth = 3594.121643; finalDepth = 3590.162288; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3590.162288 # Seafloor depth: -3640.162288 # 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 2 # Segment length 100.363269 meters # Minimum depth: 3644.121643 meters looking forward 100.000000 meters along route # Maximum depth: 3647.913959 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3594.121643 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.932484; longitude = -108.857479; duration = 401; initialDepth = 3597.706037; finalDepth = 3594.121643; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3594.121643 # Seafloor depth: -3644.121643 # 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 2 # Segment length 100.363271 meters # Minimum depth: 3647.706037 meters looking forward 100.000000 meters along route # Maximum depth: 3648.043629 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3597.706037 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.933386; longitude = -108.857560; duration = 401; initialDepth = 3597.697850; finalDepth = 3597.706037; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3375919999999 # Actual altitude: 50.3375919999999 # Commanded vehicle depth: 3597.706037 # Seafloor depth: -3648.043629 # 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 2 # Segment length 100.363273 meters # Minimum depth: 3647.697850 meters looking forward 100.000000 meters along route # Maximum depth: 3648.009937 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3597.697850 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.934289; longitude = -108.857642; duration = 401; initialDepth = 3597.800858; finalDepth = 3597.697850; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3375919999999 # Actual altitude: 50.3375919999999 # Commanded vehicle depth: 3597.69785 # Seafloor depth: -3647.870669 # 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 2 # Segment length 100.363274 meters # Minimum depth: 3647.800858 meters looking forward 100.000000 meters along route # Maximum depth: 3653.205043 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3597.800858 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.935192; longitude = -108.857724; duration = 401; initialDepth = 3604.176708; finalDepth = 3597.800858; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1728189999999 # Actual altitude: 50.1728189999999 # Commanded vehicle depth: 3597.800858 # Seafloor depth: -3647.800858 # 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 2 # Segment length 100.363275 meters # Minimum depth: 3654.176708 meters looking forward 100.000000 meters along route # Maximum depth: 3664.847901 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3604.176708 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.936095; longitude = -108.857805; duration = 401; initialDepth = 3614.948250; finalDepth = 3604.176708; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3604.176708 # Seafloor depth: -3654.176708 # 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 2 # Segment length 100.363278 meters # Minimum depth: 3664.948250 meters looking forward 100.000000 meters along route # Maximum depth: 3674.172891 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3614.948250 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.936998; longitude = -108.857887; duration = 401; initialDepth = 3621.561773; finalDepth = 3614.948250; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3614.94825 # Seafloor depth: -3664.948250 # 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 2 # Segment length 100.363279 meters # Minimum depth: 3671.561773 meters looking forward 100.000000 meters along route # Maximum depth: 3675.358584 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3621.561773 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.937901; longitude = -108.857969; duration = 401; initialDepth = 3616.075030; finalDepth = 3621.561773; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1739259999999 # Actual altitude: 53.1739259999999 # Commanded vehicle depth: 3621.561773 # Seafloor depth: -3674.735699 # 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 2 # Segment length 100.363280 meters # Minimum depth: 3666.075030 meters looking forward 100.000000 meters along route # Maximum depth: 3670.580305 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3616.075030 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.938804; longitude = -108.858050; duration = 401; initialDepth = 3617.110142; finalDepth = 3616.075030; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.505275 # Actual altitude: 54.505275 # Commanded vehicle depth: 3616.07503 # Seafloor depth: -3670.580305 # 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 2 # Segment length 100.363282 meters # Minimum depth: 3667.110142 meters looking forward 100.000000 meters along route # Maximum depth: 3673.618660 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3617.110142 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.939706; longitude = -108.858132; duration = 401; initialDepth = 3624.060150; finalDepth = 3617.110142; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.505275 # Actual altitude: 54.505275 # Commanded vehicle depth: 3617.110142 # Seafloor depth: -3667.110142 # 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 2 # Segment length 100.363284 meters # Minimum depth: 3674.060150 meters looking forward 100.000000 meters along route # Maximum depth: 3676.491435 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3624.060150 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.940609; longitude = -108.858214; duration = 401; initialDepth = 3626.769057; finalDepth = 3624.060150; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3624.06015 # Seafloor depth: -3674.060150 # 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 2 # Segment length 100.363285 meters # Minimum depth: 3676.769057 meters looking forward 100.000000 meters along route # Maximum depth: 3679.128909 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3626.769057 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.941512; longitude = -108.858295; duration = 401; initialDepth = 3629.267815; finalDepth = 3626.769057; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3626.769057 # Seafloor depth: -3676.769057 # 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 2 # Segment length 100.363287 meters # Minimum depth: 3679.267815 meters looking forward 100.000000 meters along route # Maximum depth: 3681.331172 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3629.267815 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.942415; longitude = -108.858377; duration = 401; initialDepth = 3630.636818; finalDepth = 3629.267815; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3629.267815 # Seafloor depth: -3679.267815 # 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 2 # Segment length 100.363289 meters # Minimum depth: 3680.636818 meters looking forward 100.000000 meters along route # Maximum depth: 3681.577587 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3630.636818 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.943318; longitude = -108.858459; duration = 401; initialDepth = 3630.616262; finalDepth = 3630.636818; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8470339999999 # Actual altitude: 50.8470339999999 # Commanded vehicle depth: 3630.636818 # Seafloor depth: -3681.483852 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.363290 meters # Minimum depth: 3680.616262 meters looking forward 100.000000 meters along route # Maximum depth: 3681.963065 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3630.616262 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.944221; longitude = -108.858540; duration = 401; initialDepth = 3632.128040; finalDepth = 3630.616262; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8470339999999 # Actual altitude: 50.8470339999999 # Commanded vehicle depth: 3630.616262 # Seafloor depth: -3680.616262 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.363291 meters # Minimum depth: 3682.128040 meters looking forward 100.000000 meters along route # Maximum depth: 3686.414227 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3632.128040 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.945124; longitude = -108.858622; duration = 401; initialDepth = 3637.024123; finalDepth = 3632.128040; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3632.12804 # Seafloor depth: -3682.128040 # 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 2 # Segment length 100.363294 meters # Minimum depth: 3687.024123 meters looking forward 100.000000 meters along route # Maximum depth: 3691.120946 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3637.024123 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.946027; longitude = -108.858704; duration = 401; initialDepth = 3641.718249; finalDepth = 3637.024123; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3637.024123 # Seafloor depth: -3687.024123 # 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 2 # Segment length 100.363294 meters # Minimum depth: 3691.718249 meters looking forward 100.000000 meters along route # Maximum depth: 3696.054587 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3641.718249 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.946929; longitude = -108.858785; duration = 401; initialDepth = 3646.263730; finalDepth = 3641.718249; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3641.718249 # Seafloor depth: -3691.718249 # 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 2 # Segment length 100.363297 meters # Minimum depth: 3696.263730 meters looking forward 100.000000 meters along route # Maximum depth: 3697.703761 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3646.263730 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.947832; longitude = -108.858867; duration = 401; initialDepth = 3647.873841; finalDepth = 3646.263730; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3646.26373 # Seafloor depth: -3696.263730 # 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 2 # Segment length 103.692903 meters # Minimum depth: 3697.873841 meters looking forward 100.000000 meters along route # Maximum depth: 3699.122007 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3647.873841 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.948735; longitude = -108.858949; duration = 414; initialDepth = 3649.152394; finalDepth = 3647.873841; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3647.873841 # Seafloor depth: -3697.873841 # 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 1 # Segment length 106.713541 meters # Minimum depth: 3699.152394 meters looking forward 100.000000 meters along route # Maximum depth: 3700.751646 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3649.152394 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.949668; longitude = -108.859033; duration = 426; # abortOnTimeout = True; initialDepth = 3650.987569; finalDepth = 3649.152394; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0316269999998 # Actual altitude: 50.0316269999998 # Commanded vehicle depth: 3649.152394 # Seafloor depth: -3699.184021 # 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 1 # Segment length 100.356102 meters # Minimum depth: 3700.987569 meters looking forward 100.000000 meters along route # Maximum depth: 3703.775618 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3650.987569 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.950583; longitude = -108.859360; duration = 401; initialDepth = 3650.060096; finalDepth = 3650.987569; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0316269999998 # Actual altitude: 50.0316269999998 # Commanded vehicle depth: 3650.987569 # Seafloor depth: -3700.987569 # 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 1 # Segment length 105.281083 meters # Minimum depth: 3700.060096 meters looking forward 100.000000 meters along route # Maximum depth: 3703.812337 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3650.060096 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.951444; longitude = -108.859668; duration = 421; initialDepth = 3646.521080; finalDepth = 3650.060096; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7522409999997 # Actual altitude: 53.7522409999997 # Commanded vehicle depth: 3650.060096 # Seafloor depth: -3703.812337 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 105.281003 meters # Minimum depth: 3696.521080 meters looking forward 100.000000 meters along route # Maximum depth: 3699.354759 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3646.521080 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.952347; longitude = -108.859991; duration = 421; initialDepth = 3641.195347; finalDepth = 3646.521080; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7522409999997 # Actual altitude: 53.7522409999997 # Commanded vehicle depth: 3646.52108 # Seafloor depth: -3699.354759 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 105.629200 meters # Minimum depth: 3691.195347 meters looking forward 100.000000 meters along route # Maximum depth: 3696.285121 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3641.195347 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.953250; longitude = -108.860314; duration = 422; initialDepth = 3639.269054; finalDepth = 3641.195347; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.089774 # Actual altitude: 55.089774 # Commanded vehicle depth: 3641.195347 # Seafloor depth: -3696.285121 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 104.932567 meters # Minimum depth: 3689.269054 meters looking forward 100.000000 meters along route # Maximum depth: 3691.188553 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3639.269054 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.954155; longitude = -108.860638; duration = 419; initialDepth = 3639.064054; finalDepth = 3639.269054; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.089774 # Actual altitude: 55.089774 # Commanded vehicle depth: 3639.269054 # Seafloor depth: -3691.188553 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 108.762451 meters # Minimum depth: 3689.064054 meters looking forward 100.000000 meters along route # Maximum depth: 3690.418072 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3750.249731 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3639.064054 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.955055; longitude = -108.860959; duration = 435; initialDepth = 3639.064054; finalDepth = 3639.064054; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.9194990000001 # Actual altitude: 51.9194990000001 # Commanded vehicle depth: 3639.064054 # Seafloor depth: -3689.165248 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 2; } # Set sonar parameters # Waypoint type: 3 # Commanded altitude: 51.6283899999999 # Sonar parameter altitude: 51.6283899999999 # Commanded vehicle depth: 3639.064054 # Seafloor depth: -3690.692444 # 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 = 0.000065; MB_Bottom_Detect_Filter_Min_Range = 25.81; 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 108.762451 meters # Minimum depth: 3689.064054 meters looking forward 100.000000 meters along route # Maximum depth: 3690.692444 meters looking forward 100.000000 meters along route # Vehicle depth: 3639.064054 meters behavior waypoint { latitude = 23.955988; longitude = -108.861293; duration = 7278; depth = 3639.064054; 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 3639.064054 meters set by local depth and desired altitude behavior descend { duration = 13270; horizontalMode = rudder; horizontal = 2.000000; pitch = -40.000000; speed = 1.500000; maxDepth = 3630.692444; 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 108.762451 meters # Minimum depth: 3689.064054 meters looking forward 100.000000 meters along route # Maximum depth: 3690.692444 meters looking forward 100.000000 meters along route # Vehicle depth: 50.000000 meters behavior waypoint { latitude = 23.955988; longitude = -108.861293; 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 = -40.000000; 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; } # 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